TY - GEN
T1 - Application of optimum tire force distribution to vehicle motion control
AU - Wang, Chun Chieh
AU - Cheng, Sheng Yuan
AU - Hsiao, Te-Sheng
AU - Chou, Wei Yao
PY - 2012
Y1 - 2012
N2 - This paper presents a motion control scheme for a front-wheel-steering/ rear-wheel-driving (FWS/RWD) vehicle using the optimum tire force distribution method. The proposed control system is divided into three layers: the upper controller, the optimum tire force distribution algorithm, and the lower controller. When the driver commands the vehicle, the upper controller computes the total desired longitudinal tire force, lateral tire force, and the desired yaw moment which allow the vehicle to follow the given reference trajectory. Then the desired forces and moments are optimally distributed to the four wheels, and the lower controller compensates for the nonlinear and uncertain characteristics of the tire dynamics to generate the desired forces. Finally, simulations are carried out to verify the effectiveness of the proposed control scheme.
AB - This paper presents a motion control scheme for a front-wheel-steering/ rear-wheel-driving (FWS/RWD) vehicle using the optimum tire force distribution method. The proposed control system is divided into three layers: the upper controller, the optimum tire force distribution algorithm, and the lower controller. When the driver commands the vehicle, the upper controller computes the total desired longitudinal tire force, lateral tire force, and the desired yaw moment which allow the vehicle to follow the given reference trajectory. Then the desired forces and moments are optimally distributed to the four wheels, and the lower controller compensates for the nonlinear and uncertain characteristics of the tire dynamics to generate the desired forces. Finally, simulations are carried out to verify the effectiveness of the proposed control scheme.
UR - http://www.scopus.com/inward/record.url?scp=84866903816&partnerID=8YFLogxK
U2 - 10.1109/AIM.2012.6265918
DO - 10.1109/AIM.2012.6265918
M3 - Conference contribution
AN - SCOPUS:84866903816
SN - 9781467325752
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 538
EP - 543
BT - AIM 2012 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Conference Digest
T2 - 2012 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2012
Y2 - 11 July 2012 through 14 July 2012
ER -