6WD/6WS 차량의 토크 분배 및 조향 제어 알고리즘 개발 = Development of Torque Distribution and Steering Control Algorithm for 6WD/6WS Vehicle

다국어 초록 (Multilingual Abstract)

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.

목차 (Table of Contents)

• Abstract
• 1. 서론
• 2. 6WD/6WS 차량 모델
• 3. 제어 알고리즘 개발
• 4. Simulation Result
• 5. 결론
• 후기
• References