UIO를 이용한 선회 시 등판각 추정

Title
UIO를 이용한 선회 시 등판각 추정
Other Titles
Climbing Angle Estimation in Yawing Motion by UIO
Authors
허건수
Keywords
횡속도; 등판각; 미지입력관측기; Dugoff 타이어 모델; 지능형 자동차; Lateral velocity; Climbing angle; Unknown input observe; Dugoff tire mode; Intelligent vehicle
Issue Date
2015-09
Publisher
한국자동차공학회
Citation
한국자동차공학회 논문집, v. 23, NO 5, Page. 478-485
Abstract
Availability of the climbing angle information is crucial for the intelligent vehicle system. However, the climbing angle information can’t be measured with the sensor mounted on the vehicle. In this paper, climbing angle estimation system is proposed. First, longitudinal acceleration obtained from gyro-sensor is compared with the actual longitudinal acceleration of the vehicle. If the vehicle is in yawing motion, actual longitudinal acceleration can’t be approximated from time derivative of wheel speed, because lateral velocity and yaw rate affect actual longitudinal acceleration. Wheel speed and yaw rate can be obtained from the sensors mounted on the vehicle, but lateral velocity can’t be measured from the sensor. Therefore, lateral velocity is estimated using unknown input observer with nonlinear tire model. Simulation results show that the compensated results using lateral velocity and yaw rate show better performance than uncompensated results.
URI
http://koreascience.or.kr/article/ArticleFullRecord.jsp?cn=JDCGCC_2015_v23n5_478http://hdl.handle.net/20.500.11754/27651
ISSN
1225-6382; 2234-0149
DOI
http://dx.doi.org/10.7467/KSAE.2015.23.5.478
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > AUTOMOTIVE ENGINEERING(미래자동차공학과) > Articles
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