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1、JSAEReview23(2002)309–315StudyonintegratedcontrolofactivefrontsteerangleanddirectyawmomentMasaoNagai,MotokiShino,FengGaoTokyoUniversityofAgricultureandTechnology,DepartmentofMechanicalSystemsEngineering,2-24-16Naka-cho,Koganei-shi,184-8588Tokyo,JapanReceived9October2001AbstractThisstudypro
2、posesacontrolsystemtoimprovevehiclehandlingandstabilityunderseveredrivingconditionsbyactivelycontrollingthefrontsteeringangleandthedistributionofbrakingforcesonfourtires.Withtheapplicationofamodel-matchingcontroltechnique,thisproposedcontrolsystemmakestheperformanceoftheactualvehiclemodelf
3、ollowthatofanidealvehiclemodelwithconsiderationofnonlinearityoftirecharacteristics.Finally,thispaperinvestigatestheeffectivenessofcontrolsystemduringthefollowingconditions:brakedcornering,lanechangeandsidewinddisturbance.r2002SocietyofAutomotiveEngineersofJapan,Inc.andElsevierScienceB.V.All
4、rightsreserved.1.Introductionangleandthedistributionofbrakingforces.Thiscontrolsystemisdesignedbymodel-matchingcontrolAsthesocialdemandforvehiclesafetyincreases,techniquewhichmakestheperformanceoftheactualactiverearsteer(ARS)asafour-wheelsteeringsystemvehiclemodelfollowthatofanidealvehicle
5、model.(4WS)hasbeenstudiedextensivelyinthefieldofFinally,theeffectivenessoftheintegratedcontrolsystemvehiclemotioncontrol.ForfurtherimprovingvehicleisdiscussedcomparedwiththatofDYConly.handlingandstability,directyaw-momentcontrol(DYC)hasbeenstudiedanddevelopedtocontrol2.Actualvehiclemodelbrak
6、ingforcedistributionoffourtiresasastrategyfordriversupportsystems.Recentlyactivefrontsteer2.1.Loadtransfers(AFS)isbeingstudiedasasteer-by-wiresystemandautomaticlanekeepingsystem.Fig.1showsthesethreeIndynamicpropertiesoftires,itisnecessarytotypesofcontrolinputtoimprovevehiclehandlingandcons
7、idertheinfluenceofloadtransfers,whichareduetostability[1–6].lateralorlongitudinalaccelerationduringrunningorWhendiscussingvehicledynamics,twooutputvari-disturbance.Therefore,theinfluenceofloadtransfersisables,suchastheyawrateandthesideslipangleoftheinvestigated.