543 情報の抽象化による知的制御を適用した自動車のアクティブブレーキ DYC

• 志村 明彦

  慶大院

• 柴田 憲治

  慶大

• 吉田 和夫

  慶大

書誌事項

タイトル別名

• Direct Yaw Moment Control for Cars by Means of Intelligent Control with Abstraction of Information

抄録

Recently, Direct Yaw Moment Control (DYC) using active brake has been applied to some vehicles. Its control law is determined by the result of nonlinear simulation analysis. However, the selection of suitable inputs to DYC controller is difficult because of nonlinear characteristics of contact force at tire. The neural network (NN) can find a control law for nonlinear system. but understanding of its meaning is not easy because of its complex structure. In this paper, a rule extraction method from NN controller is presented. The NN controller is obtained from nonlinear mathematical simulation of lane change by means of genetic algorithm (GA). by adding forgetting genetic operator, the connections of NN are reduced and simplified. As a result. a simple control law of DYC is achieved. The control law can be implemented by various means because of its simplicity. The DYC control law using side slip angle and time derivative of side slip angle is achieved. This control law has good performance and uses the same output as the DYC controller achieved by a conventional method. As a result, the effectiveness of rule extraction from NN is presented.

収録刊行物

• Dynamics and Design Conference : 機械力学・計測制御講演論文集 : D & D

  Dynamics and Design Conference : 機械力学・計測制御講演論文集 : D & D 2000 (0), 284-, 2000-09-01

  一般社団法人日本機械学会

キーワード

• Automobile
• Nonlinear Control
• Neural Network
• Genetic Algorithm
• Rule Extraction
• Traction Control

詳細情報

• CRID: 1573387451982013056
• NII論文ID: 110002482645
• NII書誌ID: AA11901770
• ISSN: 13480235
• 本文言語コード: ja
• データソース種別:
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