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Optimization of control allocation with ESC, AFS, ARS and TVD in integrated chassis control

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Abstract

This paper presents an optimization of control allocation in integrated chassis control with active front steering, active rear steering, electronic stability control and torque-vectoring device under the saturation of lateral tire forces on front wheels. After a control yaw moment is calculated in the upper-level controller, a weighted pseudo-inverse based control allocation is used for yaw moment generation in the lower-level controller. Variable coefficients of the weighted pseudo-inverse based control allocation are used to represent various actuator combinations and are optimized for each actuator combination to enhance control performances using simulation on vehicle simulation package, CarSim. Due to severe cornering on low friction road, the front lateral tire forces can be easily saturated. Under the condition, the active front steering has little effect on control performance and, consequently, the desired control yaw moment cannot be generated. So, the lateral force generated by AFS should be restricted to its maximum, and a constrained weighted pseudoinverse based control allocation with electronic stability control, active rear steering and torque-vectoring device is applied to compensate the loss of the control yaw moment. Variable coefficients of the constrained weighted pseudo-inverse based control allocation with electronic stability control, active rear steering and torque-vectoring device are also optimized using simulated-based tuning. To validate the proposed method, simulation was done on CarSim. From simulation, it was verified which actuator combination is effective for integrated chassis control if the lateral forces on front wheels are saturated.

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Acknowledgments

This study was supported by the Research Program funded by the Seoul National University of Science and Technology.

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Authors and Affiliations

  1. Department of Automotive Engineering, Honam University, Gwangju, Korea

    Jaewon Nah

  2. Department of Mechanical and Automotive Engineering, Seoul National University of Science and Technology, Seoul, Korea

    Seongjin Yim

Authors
  1. Jaewon Nah
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  2. Seongjin Yim
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Corresponding author

Correspondence to Seongjin Yim.

Additional information

Recommended by Associate Editor Sangyoon Lee

Jaewon Nah received the B.S. degree in mechanical engineering from Korea University, Seoul, Korea, in 2007 and the M.S. degree in the course of automotive engineering from Seoul National University, Seoul, Korea, in 2010. He received the Ph.D. degree from the Graduate School of Convergence Science and Technology, Seoul National University, Seoul, Korea, in 2014. From 2014 to 2017, he had been a Senior Researcher of the military robotic vehicle team, Samsung Tech-win co., Ltd. From 2017 to 2018, he had been a Senior Researcher of KATECH. From 2018, he has been an Assistant Professor at Honam University. He is interested in V2X communication, vehicle dynamics and control.

Seongjin Yim received the B.S. degree in mechanical engineering from Yonsei University, Korea, in 1995, and the M.S. and Ph.D. degrees in mechanical engineering from the Korea Advanced Institute of Science and Technology in 1997 and 2007, respectively. From 2011 to 2012, he had been a Research Professor in Advanced Institutes of Convergence Technology, Korea. Since 2013, He has been an Assistant Professor in Seoul National University of Science and Technology. His research interests are robust control, vehicle rollover prevention, integrated chassis control systems with V2V communication and steer-by-wire control.

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Nah, J., Yim, S. Optimization of control allocation with ESC, AFS, ARS and TVD in integrated chassis control. J Mech Sci Technol 33, 2941–2948 (2019). https://doi.org/10.1007/s12206-019-0541-5

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  • DOI: https://doi.org/10.1007/s12206-019-0541-5

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