| 초록 |
Emission standards are tightening around the world as a result of energy and environmental issues. In this regard, various types of personal urban vehicles are emerging. One of the personal urban vehicles, a three-wheeled electric vehicle with rear-wheel steering, was proposed. In this paper, we propose an integrated control strategy for determining the control input of the proposed three-wheeled electric vehicle under full range of steering angle and speeds. The proposed control strategy is to combine the two controllers based on a kinematic model and a dynamic model by using an interacting multiple model(IMM). The kinematic model and dynamic model, which are the basis of each controller, are applied to the interacting multiple model in order to obtain the probability of each model on the variations of steering angle and speed. Therefore, the control input is determined by the probabilities obtained from IMM. In order to verify the proposed method, we performed simulations by using CarSim, which is a commercial software. It is confirmed that the vehicle can make a tight turn at low speeds and follow the steady state behavior of the reference vehicle at high speeds. |
