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Optimum distribution of yaw moment for unified chassis control with limitations on the active front steering angle

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Abstract

This paper describes an optimum distribution method for yaw moment for use with unified chassis control (UCC) with limitations on the active front steering (AFS) angle. Although the UCC has been assumed to have no AFS angle limitation in the literature, a physical limitation exists in real applications. To improve upon the previous method, a new optimum distribution method for yaw moment is proposed that takes this limitation into account. This method derives an optimum longitudinal/lateral force using the Karush-Kuhn-Tucker (KKT) optimality condition, and a simulation is performed to validate the proposed method. The simulation results indicate that the limitation on the AFS angle increases longitudinal braking force and, therefore, reduces the vehicle speed and the side-slip angle.

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Abbreviations

a x :

longitudinal acceleration (m·s2)

a y :

longitudinal acceleration (m·s2)

C f , C r :

cornering stiffness of front/rear tire (N/rad)

F x :

longitudinal tire force (N)

F y :

lateral tire force (N)

F z :

vertical tire force (N)

F yf , F yr :

front/rear lateral tire forces (N)

F z,front :

front vertical tire forces (N)

F z,rear :

rear vertical tire forces (N)

g :

gravitational constant (=9.81 m·s2)

h :

height of C.G. (m)

I z :

yaw moment of inertia (kg·m2)

K B :

pressure-force constant (N/MPa)

K :

gain of the sliding mode controller

l f , l r :

distance from C.G. to the front/rear axle (m)

m :

vehicle total mass (kg)

m s :

vehicle sprung mass (kg)

r :

radius of a wheel (m)

t f :

front track width (m)

V :

vehicle speed (m/s)

v x :

longitudinal velocity (m/s)

v y :

lateral velocity (m/s)

γ :

yaw rate (rad/s)

γ d :

reference yaw rate (rad/s)

β :

side-slip angle (rad)

δ f :

steering angle of front wheel (rad)

Δδ f :

AFS angle (rad)

Δδ f,max :

saturation limit of the AFS angle (rad)

References

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Authors and Affiliations

  1. BK21 Mechatronics Group, Chungnam National University, Daejeon, 305-764, Korea

    S. Yim

  2. School of Mechanical and Aerospace Egineering, Seoul National University, Seoul, 151-742, Korea

    W. Cho, J. Yoon & K. Yi

Authors
  1. S. Yim
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  2. W. Cho
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  3. J. Yoon
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  4. K. Yi
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Corresponding author

Correspondence to K. Yi.

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Yim, S., Cho, W., Yoon, J. et al. Optimum distribution of yaw moment for unified chassis control with limitations on the active front steering angle. Int.J Automot. Technol. 11, 665–672 (2010). https://doi.org/10.1007/s12239-010-0079-0

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  • DOI: https://doi.org/10.1007/s12239-010-0079-0

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