独立操舵車両における横力と制駆動力の最適配分 : タイヤ負荷のMinimax最適化(機械力学,計測,自動制御) Optimization of Lateral and Driving/Braking Force Distribution of Independent Steering Vehicle : Minimax Optimization of Tire Workload
The present paper discusses the driving/breaking force distribution for direct yaw-moment control (DYC) of the independent steering vehicle. The objective function is the maximum value of the tire workloads. In the case of conventional four wheel steering vehicle, the algebraic expressions of the optimum driving/breaking force distribution have been derived by the authors. Based on the previous results, the optimization algorithms for the independent steering vehicle are newly developed. For the front independent steering vehicle, the binary search is employed, and this online algorithm is combined with the golden section search method for the independent four-wheel steering vehicle. The convergences are guaranteed by the convexities of these optimization problems. Numerical simulations with CarSim, a popular multi-degree-of-freedom vehicle model, are performed to prove effectiveness of the proposed control schemes.
- 日本機械学會論文集. C編
日本機械学會論文集. C編 72(714), 537-544, 2006-02-25