Optimum distribution of yaw moment for unified chassis control with limitations on the active front steering angle |
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Authors: | S Yim W Cho J Yoon K Yi |
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Institution: | 1.BK21 Mechatronics Group,Chungnam National University,Daejeon,Korea;2.School of Mechanical and Aerospace Egineering,Seoul National University,Seoul,Korea |
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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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Keywords: | |
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