비선형 타이어모델 기반 MPC를 이용한 차량 안정화
- Title
- 비선형 타이어모델 기반 MPC를 이용한 차량 안정화
- Other Titles
- Vehicle Stabilization Using MPC Based on Nonlinear Tire Model
- Author
- 허건수
- Keywords
- 차선유지; 타이어횡력; 비선형 타이어 모델; 역 타이어 모델; 모델예측제어; Lane keeping; Lateral tire force; Nonlinear tire model; Inverse tire model; Model predictive control
- Issue Date
- 2016-11
- Publisher
- 한국자동차공학회
- Citation
- 한국자동차공학회 논문집, v. 24, NO. 6, Page. 730-736
- Abstract
- Recent research suggests the various applications of Model Predictive Control on vehicle systems. In numerous cases, nonlinear tire models such as the Magic Formula, which are highly complex and are more detailed than necessary, are used. This paper presents a nonlinear tire model that excludes the region of negative slope but expresses the nonlinear properties of tire well enough for tracking the lane of a racing course. The proposed inverse tire model can also be used to calculate the slip angle from the tire force. Thus, the model can be utilized to design the Model Predictive Controller.
- URI
- http://koreascience.or.kr/article/JAKO201634347321549.pagehttps://repository.hanyang.ac.kr/handle/20.500.11754/100733
- ISSN
- 1225-6382; 2234-0149
- DOI
- 10.7467/KSAE.2016.24.6.730
- Appears in Collections:
- COLLEGE OF ENGINEERING[S](공과대학) > AUTOMOTIVE ENGINEERING(미래자동차공학과) > Articles
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