操縦安定性改善のためのアクティブスタビライザと電動パワーステアリングの分散制御系設計(<特集>D&D2009)

概要

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In this paper, a distributed control system for an active stabilizer and an electric power steering (EPS) is designed in order to improve the performance on vehicle agility and stability. A full vehicle simulation model with the active stabilizer and the EPS is derived and used to evaluate the performance for the distributed controllers design. A controller for the active stabilizer is designed using the linear quadratic (LQ) control theory to balance competing goals for the roll reduction of a vehicle body during cornering and the improvement of the ride comfort on a rough road and to especially take the road surface disturbance to the steering system into account. Also a controller for the EPS considering the self-aligning torque generated from the vehicle system with the stabilizer is designed to assist the steering of the driver by applying the H_∞ control theory. It is verified that the distributed control system applied to the full vehicle model is effective to not only reduce the roll motion and the steering torque during cornering but also improve the driving stability and the ride comfort on the rough road.
2010-05-25