토크 분배 제어를 위한 각 휠의 수직력 추정에 관한 연구

Abstract

Torque vectoring utilizes driving torque which is generated from the car effectively and enhances the handling characteristics by controlling the torque delivered to both wheels using an electronic device. This paper suggests an algorithm that estimates each wheel’s normal force for optimal distribution of torque. The suggested algorithm estimates lateral acceleration based on 2-DOF bicycle model and derives roll angle and roll rate based on approximated roll plane model to update estimated lateral acceleration. Finally, estimates normal force of each wheel by calculating roll stiffness and roll damping coefficient which are derived by using optimization scheme. Finally, the suggested algorithm is validated by using the commercial s/w, the Carsim and MATLAB/Simulink.