標題: | Application of Optimum Tire Force Distribution to Vehicle Motion Control |
作者: | Wang, Chun-Chieh Cheng, Sheng-Yuan Hsiao, Tesheng Chou, Wei-Yao 交大名義發表 National Chiao Tung University |
公開日期: | 2012 |
摘要: | This paper presents a motion control scheme for a front-wheel-steering/rear-wheel-driving (FWS/RWD) vehicle using the optimum tire force distribution method. The proposed control system is divided into three layers: the upper controller, the optimum tire force distribution algorithm, and the lower controller. When the driver commands the vehicle, the upper controller computes the total desired longitudinal tire force, lateral tire force, and the desired yaw moment which allow the vehicle to follow the given reference trajectory. Then the desired forces and moments are optimally distributed to the four wheels, and the lower controller compensates for the nonlinear and uncertain characteristics of the tire dynamics to generate the desired forces. Finally, simulations are carried out to verify the effectiveness of the proposed control scheme. |
URI: | http://hdl.handle.net/11536/17024 |
ISBN: | 978-1-4673-2576-9 |
期刊: | 2012 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) |
起始頁: | 538 |
結束頁: | 543 |
Appears in Collections: | Conferences Paper |