| 제목 |
4 휠 독립 조향 차량의 핸들링 성능 향상을 위한
자가 동조 기반 적응형 모델 예측 제어 알고리즘 개발 |
| 분야 |
차량동역학 및 제어 |
| 언어 |
Korean |
| 저자 |
송태준(한경대학교), 이혜원(한경대학교), 김민준(현대자동차), 오광석(한경대학교) |
| Key Words |
Model predictive control(모델 예측 제어), Self-tuning rule(자가 동조 규칙), Independent steering(독립 조향), Physical constraints(물리적 제약조건), Recursive least squares(순환 최소 자승), MIT rule(MIT 규칙) |
| 초록 |
This paper presents a self-tuning-based adaptive model predictive control algorithm for improving the handling performance of four-wheel independent- steering vehicles. The model predictive control algorithm was adopted to independently compute the optimal four-wheel steering angles of a vehicle for its handling performance by considering the physical constraints, such as the steering limits and the opposite-direction steering condition. The vehicle nonlinear model was used, and its Jacobian matrices were utilized to compute the control input for determining of the independent steering wheel angle with the driver’s steering input. Due to the model uncertainty and calculation process of the model predictive control algorithm, the uncertainty is increasing in the prediction step of the control algorithm, which may result in a relatively low control performance. To overcome the limitation by model uncertainty of the model predictive control algorithm, self-tuning and adaptation algorithms were designed based on the recursive least squares and MIT rule. Performance evaluation was conducted under a step steering scenario with various velocity conditions. |
| 원문(PDF) |
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