선회성능 향상을 위한 능동형 롤바 제어 알고리즘 개발

This paper describes development of high wheel slip control algorithm in order to enhance turning performance of electric vehicle equipped with in wheel-motors. In the case of conventional vehicle, turning radius is definitely limited by kinematic features with respect to wheel base, maximum steering angle and track width. In previous studies in order to resolve this limitation, steering angle and yaw moment are simultaneously used to improve turning performance and guarantee vehicle stability. Yaw moment can be generated by independent drive and brake torques using in-wheel motors. Proposed control algorithm eliminates limitation of turning radius using high wheel slip control method. In conclusion, turning center can be determined at arbitrary points, for example vehicle mass center, front wheel and right wheel.