비선형 타이어모델 기반 MPC를 이용한 차량 안정화
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Recent research suggests the various applications of Model Predictive Control on vehicle systems. In numerous cases, nonlinear tire models such as the Magic Formula, which are highly complex and are more detailed than necessary, are used. This paper presents a nonlinear tire model that excludes the region of negative slope but expresses the nonlinear properties of tire well enough for tracking the lane of a racing course. The proposed inverse tire model can also be used to calculate the slip angle from the tire force. Thus, the model can be utilized to design the Model Predictive Controller.
[1] Ali Khaki-Sedigh,et al. Adaptive Vehicle Lateral-Plane Motion Control Using Optimal Tire Friction Forces With Saturation Limits Consideration , 2009, IEEE Transactions on Vehicular Technology.