25-28 2024 [추계학술대회]
| 제목 | 인휠 차량의 탱크턴 회전 각도 제어 방법 |
|---|---|
| 분야 | 모빌리티 동력 및 구동시스템 |
| 언어 | English |
| 저자 | 박종명(현대모비스), 황준하(현대모비스) |
| Key Words | In-wheel, Tank turn, Control logic, Wheel slip control, Vehicle dynamics |
| 초록 | The purpose of this paper is to enable a 4WD in-wheel vehicle to rotate on the spot (also known as a tank turn). To implement the tank turn function, we devised an estimator that predicts the vehicle's yaw angle and tire-road friction. Additionally, we designed yaw angle, yaw rate, and wheel slip controllers to rotate the vehicle to the designated angle. Finally, vehicle tests were conducted using the Hyundai Ioniq 5 with four in-wheel motors. |
| 원문(PDF) | 다운로드 |