차량의 동적 안정성 향상을 위한 제어 시스템 설계

The Vehicle Dynamics Control (VDC) system has the target of improving stability of a vehicle under critical lateral motions. The lateral vehicle motion, especially on a slippery road, can lead to a hazardous situation such as the spin or drift, and the situation can even worsen by the driver's inappropriate response. In tl1is paper, a VDC system has been developed. The system consists of a linear quadratic regulator (LQR)-based controller and estimators for the road friction coefficient and the body sideslip angle. The LQR-based controller consists of the feed forward and feedback controls. The estimator for the road friction coefficient is based upon the nonlinear tire model and exploits the Newton method with provisions for real-time implementation. For estimation of the body sideslip angle, a nonlinear reduced order observer with robustness to the modeling error has been developed. Simulations have been conducted to evaluate the performance of the closed loop system under various driving conditions, and the results will be presented in this paper