Phase Plane Method를 이용한 ESC와 TVD 통합 제어

다국어 초록 (Multilingual Abstract)

This paper presents a integrated control algorithm for ESC (Electronic Stability Control) and TVD (Torque Vectoring Device). The main concept of integrated chassis control is vehicle stability and performance. β-β phase plane and β-r phase plane analysis is used to guarantee vehicle stability. In those phase plane analysis, control boundaries are got experimentally. Sliding mode control is used to control the stability of the vehicle if the vehicle state is in the control boundaries at β-β and β-r phase plane. The ESC and TVD control is used to stabilize the vehicle motion and improve vehicle performance with distributed corrective yaw moment, when vehicle state is in control boundaries at each phase planes. The developed models and the control algorithm are programmed using Matlab/Simulink. CarSim simulator is used to verify the validity of the integrated control algorithm with comparing integrated system and combined system.