http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
통합 섀시 제어를 위한 LQR의 가중치 변화에 대한 민감도 해석
임성진(Seonjin Yim) 제어로봇시스템학회 2017 제어·로봇·시스템학회 논문지 Vol.23 No.4
This article presents a sensitivity analysis on the weight of the linear quadratic regulator (LQR) for integrated chassis control. Electronic stability control (ESC) and active front steering (AFS) are used as actuators needed to generate a control tire force. After computing the control yaw moment in the upper-level controller, the lower-level controller was used to distribute the control yaw moment into the control tire forces generated by ESC and AFS. In this paper, the LQR was used to design the upper-level controller. The Taguchi method was used to complete a sensitivity analysis on the weight of the linear quadratic (LQ) objective function in the LQR. For the sensitivity analysis, simulation was performed using CarSim, a vehicle simulation package. From the sensitivity analysis, the effect of the LQ objective function weight on the control performance was checked. Based on this sensitivity analysis, it was determined that the weights on lateral acceleration and yaw rate error had the largest effect on the control performance.