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토크 벡터링 시스템이 적용된 차량의 선회 성능 향상을 위한 토크 분배에 관한 연구
김세현,김태규,이숭근,최동건,최인규,곽군평 한국산업정보학회 2023 한국산업정보학회논문지 Vol.28 No.4
In next-generation electric vehicles, research is being conducted on an in-wheel motor system that directly controls torque by each wheel to improve total cost and driving performance. Accordingly, in this paper, a study was conducted on an algorithm that distributes the torque applied to each wheel in a torque vectoring system applied to an in-wheel motor for driving an electric vehicle. In order to implement a vehicle model that applies actual vehicle characteristic parameters according to vehicle driving and steering, a simulation was conducted in the MATLAB Simulink environment, and it was confirmed that torque distribution was performed according to the proposed algorithm. 차세대 전기자동차에서는 전비 향상 및 주행 성능 개선을 위하여 각 휠에 의해 직접적으로 토크를 제어하는 인 휠 모터 시스템에 대한 연구가 진행되고 있다. 이에 따라 본 논문에서는 전기자동차 구동용 인 휠 모터에 적용되는 토크 벡터링 시스템에서 각 휠에 가해지는 토크를 분배하는 알고리즘에 대한 연구를 수행하였다. 차량의 주행 및 조향에 따른 실제 차량 특성 파라미터를 적용한 차량 모델을 구현하기 위해 MATLAB Simulink 환경에서 시뮬레이션을 진행하였으며 제안된 알고리즘에 따라 토크 분배가 이뤄지는 것을 확인하였다.
김병주(Byungjoo Kim),노근제(Keunje Noh),김혁수(Hyuksoo Kim),박기홍(Kihong Park) 한국자동차공학회 2009 한국자동차공학회 학술대회 및 전시회 Vol.2009 No.11
This paper proposes an Intelligent Torque Distribution(ITD) algorithm for enhancing the driving performance and cornering stability of a vehicle. In the vehicle’s longitudinal maneuver, the ITD logic improves the acceleration performance by the front/rear torque distribution. In the cornering maneuver, the ITD logic tries to maintain the vehicle’s lateral stability by using the combined torque distribution strategies at for wheels. For the control logics, the PID and the sliding mode control methods were adopted for the longitudinal and lateral controls, respectively. The performance of the ITD system was validated using and independent four wheel drive vehicle model developed with CarSim and Simulink. The simulation results are to be presented and discussed in this paper.
X-by-wire 시스템 용 SRM의 토크리플 저감 제어에 관한 연구
이윤성,정민창,손수연,김재혁 한국기계기술학회 2022 한국기계기술학회지 Vol.24 No.1
This paper presents the torque ripple reduction control to apply an SRM to the X-by-wire drive systems which replaces the mechanical control method with “by-wire” to secure the flexibility of design and modification. However, torque ripples generated from the SRM can affect the performance and stability of the system. The proposed torque ripple control schemes are compared with the previously studied methods by dynamic simulation in regards to torque distribution functions and instant torque controller.
타이어 특성을 고려한 e-4WD 시스템의 최적 토크 분배 전략
나호용(Hoyong Na),황성호(Sung-Ho Hwang),유승한(Seung-Han You) 한국자동차공학회 2020 한국자동차공학회 지부 학술대회 논문집 Vol.2020 No.6
This study proposes an algorithm to distribute drive/braking torque to front/rear motors to optimize energy consumption. The target vehicle is a dual motor driven EV with two motors on the front/rear axles. The optimum distribution ratio for the front torque is calculated using a pre-calculated 2D-Map optimized offline with inputs including the longitudinal vehicle velocity and required torque. The inverse tire map, which is a main consideration, and the motor specifications (motor efficiency map, motor torque map) are utilized to obtain the optimized torque distribution map. The cost function for the optimization consists of front/rear motor efficiency, motor rpm, and motor torque. The proposed method is validated by conducting efficiency comparisons with an average distribution strategy and the algorithm. The results indicate that the proposed method shows better performance than the average distribution method.
6WD/6WS 차량의 토크 분배 및 조향 제어 알고리즘 개발
김원균(Wongun Kim),강주용(Juyong Kang),이경수(Kyoungsu Yi),김용원(Yongwon Kim) 한국자동차공학회 2008 한국자동차공학회 춘 추계 학술대회 논문집 Vol.- No.-
In this paper, distribution of required forces and moments to 6WD6WS(6 Wheel driving/6 wheel steering) vehicle is handled as torque-distribution and steering control under the assumption that all six wheels can be independently steered, driven and braked. The inputs to the optimization process are the driver's commands (steering wheel, acceleration pedal), while the outputs are lateral and longitudinal forces on all six wheels. In the upper level controller, desired yaw rate and longitudinal vehicle speed are defined as driver's steering input and acceleration pedal input through first-order transfer function with appropriate time constants, and required forces and moments are determined by sliding control theory. The total traction forces and the total yaw moment should be generated by longitudinal and lateral tire forces. Longitudinal tire forces affect total yaw moment and lateral tire forces have effect on traction forces. It is necessary to optimize tire force distribution in order to improve performance, stability and energy consumption. Lateral tire forces have to satisfy cost function for minimizing slip angle. and longitudinal tire forces have to satisfy cost function related friction circles. Both cost functions are related to the required total lateral. longitudinal tire forces and total yaw moment. Wheel torque is determined by slip ratio control based on sliding control method.
함형진(Hyeongjin Ham),이종국(Jongkuk Lee),전남주(Namju Jeon),유제명(Jemyoung Ryu),서은석(Eunsuk Suh),이형철(Hyeongcheol Lee) 한국자동차공학회 2009 한국자동차공학회 부문종합 학술대회 Vol.2009 No.4
This paper presents a control method of torque distribution for Four Wheel Drive (4WD) vehicles. The 4WD system is a device which distributes optimal torque between front and rear propeller shafts to improve traction ability and stability of a vehicle. While the object of the traditional 4WD system is to improve only traction ability by distribution of the transmission torque, the recent 4WD system is used for to meliorate the traction ability, stability and fuel consumption efficiency. This paper proposes the control algorithm for the vehicle which is equipped the electronic controlled 4WD system to improve traction ability. In this paper, the mathematical equation-based control method by vehicle dynamics analysis is presented. The proposed control algorithm of the 4WD system is validated by real vehicle test using the Rapid Control Prototyping (RCP) and the mid-size Sport Utility Vehicle (SUV) equipped 4WD system of multi plate clutch type actuated by solenoid coil.
4륜구동 차량의 구동토크 배분이 조종 안정성에 미치는 영향
강대하(Dae Ha Kang),이진화(Jin Hwa Lee),김상섭(Sang Sup Kim) 한국자동차공학회 2009 한국자동차공학회 학술대회 및 전시회 Vol.2009 No.11
This paper presents a vehicle dynamics model with detailed drive train model to analyse handling performance of 4WD Vehicle vehicle with varying torque distribution. The functional suspension model was used to derive a full vehicle dynamics model with kinematic and compliance characteristics of suspensions. The drive train is modeled with front, rear and center differential gears and soft flexibility. A wheel dynamics model with tire relaxation effects was used for more realistic simulation. Several simulation results of 4WD vehicles demonstrate the effectiveness of current model to evaluate torque distribution effects on handling performance.
단일입력 다출력 PTO Gearbox의 토크 특성에 관한 연구
이용범(Yong Bum Lee),유한주(Han Ju Yoo),김태석(Tae Seok Kim) 대한기계학회 2018 大韓機械學會論文集A Vol.42 No.2
유압식 굴삭기는 가장 많이 사용되는 건설기계 중 하나로, 초 대형급 굴삭기의 수요도 점차 늘어나고 있는 추세이다. 초 대형급 굴삭기는 연비효율 개선을 목적으로 주 엔진과 다수의 펌프사이에 PTO 기어박스를 장착하고 있다. PTO(Power Take Off) 기어박스의 출력축은 3대의 펌프와 연결되어 펌프의 작동에 따라 부하를 받으므로, 각 출력 축 마다 발생되는 정격 부하가 다르다. 본 논문에서는 전기식 다이나모메터를 이용한 부하제어 방식을 적용하고, PTO 기어박스의 각 출력축에 기계적인 비틀림으로 토크를 분배하는 기술을 소개하며, 그 특성에 대해서 고찰하였다. Hydraulic excavator is one of the most commonly used construction equipments. In addition, the demand of large excavator has been increased. PTO gearbox, installed between engine and pumps, is used to improve fuel efficiency of large excavator. Because the PTO gearbox is loaded by the pump mounted on the output shaft, the torque distribution technique should be applied when controlling the load with the dynamometer. This paper introduces a torque distribution technique and conducts a comparative analysis of the torque test results and dynamic analysis.
단일입력 다출력 PTO Gearbox의 토크 특성에 관한 연구
이용범(Yong-Bum Lee),유한주(Han-Ju Yoo),김태석(Tae-Seok Kim) 대한기계학회 2016 대한기계학회 춘추학술대회 Vol.2016 No.12
Hydraulic excavator is one of the most commonly used construction equipments. In addition, the demand of large excavator has been increased. PTO gearbox, installed between engine and pumps, is used to improve fuel efficiency of large excavator. Because gearbox is loaded by capacity of the pumps, there are some needs for torque distribution technique, conducting torque test at the test equipment using dynamometer. This paper introduces the torque distribution technique and conducts a comparative analysis of torque test results & dynamic analysis.