車両横運動特性を改善する駆動力及び電動パワーステアリング制御の設計手法(機械力学,計測,自動制御)

概要

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In this paper, we propose new controls and their design methods of driving force and Electric Power Steering (EPS). These controls enable to improve a vehicle lateral motion characteristics. First, Kinetic equations including characteristics of EPS system, vehicle lateral and longitudinal motions are clarified. Control-design policies are derived from their frequency responses. Then, we find that compensations of external disturbances and characteristics valiations are important, so driving force controller which compensates longiudinal and vertical disturbances at wheels and EPS controller which compensates vehicle lateral motion variations and lateral disturbances at wheels are designed based on H-infinity control theory. Finaly, their effectivenesses are shown by simulations and vehicle experimentations.
2007-04-25