액티브 서스펜션과 토크 벡터링을 활용한 차량 통합 제어 시스템 개발

Abstract

Vehicle control systems have been developed to improve the stability and performance of a vehicle. Among the many systems developed, Torque Vectoring system and Electronic Controlled Suspension (ECS)system affect longitudinal, lateral and vertical maneuver of the vehicle. It is necessary to carry out researches on integrating two systems for ensure safety of vehicles. In this paper, an active suspension controller with a half-car model of a car is proposed to stabilize the roll motion of vehicle. In addition, vertical and lateral force of each tire are estimated for calculating the limit of tire longitudinal force which is important information for optimizing torque distribution in torque vectoring system. The torque vectoring system distributes the required vehicle yaw moment to each wheel by applying torque. The torque applied to each wheel is calculated by an optimal distribution algorithm that uses the relative stroke information of active suspension. The proposed algorithm is verified by simulation using commercial software, CarSim and MATLAB/Simulink.