| 제목 |
인휠드라이브 타입 6×6 차량 플랫폼을 위한 시스템 모델링 및 시뮬레이션 |
| 분야 |
차량동역학 및 제어 |
| 언어 |
Korean |
| 저자 |
이정엽(현대로템), 서승환(한양대학교), 손웅희(한양대학교), 김창준(한양대학교), 한창수(한양대학교) |
| Key Words |
Mobile robot(이동형 로봇), Skid steering(미끄럼 조향), In-hub motor driving(인허브 모터 주행) |
| 초록 |
The skid-steering method that applied a number of mobile robot currently is extremely effective in narrow area. But it contains several problems such as its natural properties, slip, occurred by different direction between vehicle's driving and wheel's rotary. Through this paper, suitable control algorithm of 6×6 skid steering wheeled vehicle and its driving methods are proposed by analyzing the behavior 6×6 skid-steered wheeled vehicle model designed by engineering analysis strategy. To do this, based on a behavior of designed driving system, required torque and other performance of in-wheel type motor system are considered, and finally control algorithm for each wheel is proposed and simulated using this model. To test the proposed vehicle system, driver model is designed using PID closed loop system and included in the total driving control algorithm. The Performance of designed vehicle model is verified by using DYC (Direct Yaw Control) cornering mode and slip mode control to follow the steering input which are essential to evaluate the driving performance of 6×6 vehicle. Proposed modeling strategy and control method will be implemented to the real 6×6 in-wheel drive type vehicle. |
| 원문(PDF) |
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