19권 4호 38-46 2011 [한국자동차공학회 논문집 ]
| 제목 | 횡방향 가속도 및 요 속도를 이용한 차량의 롤 각 추정기 설계 |
|---|---|
| 분야 | 차량동역학 및 제어 |
| 언어 | Korean |
| 저자 | 이종국(LIG넥스원), 이형철(한양대학교), 권영신(LIG넥스원) |
| Key Words | Continuous Kalman filter(시 연속 Kalman 필터), Roll angle estimator(롤 각 추정기), Model-based estimator(모델 기반 추정기), Compensation of model-uncertainty(모델 비확정성 보상), Vehicle roll model(차량 롤 모델) |
| 초록 |
This paper presents roll angle estimator which used Kalman filter. Recently, the uses of the ELSD (Electronic Limited Slip Differential) and TVD(Torque Vectoring Differential) for vehicle yaw control are studied in many researches. However the roll angle can be negative effect of ELSD and TVD control. Therefore the information of roll angle can be used for vehicle yaw control. Moreover it can be used for rollover prevent control. Recently, most of the vehicles use lateral acceleration and yaw rate sensor. In this paper, design of Kalman filter which used lateral acceleration and yaw rate information is developed. In this paper, in order to verify the estimator ability, the CarSim and Matlab/Simulink are used. |
| 원문(PDF) | 다운로드 |