구동과 조향의 능동 자유도 증가에 따른 인휠 플랫폼 차량의 구동성능 향상

Abstract

최근 제어 방법 및 배터리 기술의 발전과 함께 전기 자동차는 환경문제와 에너지 절약의 관점에서 일반차량을 전기 자동차로 대체하는 연구가 진행되고 있다. 독립조향 시스템과 인휠 모터가 장착된 전기차량은 제어 측면에서 장점이 있다. 예를 들어, 좌/우 륜에 의해 발생하는 토크 차는 요 모멘트 직접 만들 수 있고, 외륜 제어를 사용하는 독립조향은 차량의 옆 미끄럼 각을 줄일 수 있다. 특수한 환경에서 사용되는 다축 구동 차량은 구동성, 조향성 및 안정성이 요구되며 그 중에서도 중륜을 설치한 6WD/6WS 차량은 하중을 배분 함으로서 급가속/급제동시의 피치 각을 감소시키는 구조적 안정성을 가지고 있다. 6WD/6WS 차량은 극단적인 지형과 장애물에 대하여 높은 기동성과 이동성을 가지므로 험지 주행에서 군사적 사용이 선호된다. 인휠모터를 사용하는 6륜 구동 차량은 다른 기계부품 없이 독립 휠 토크를 생성할 수 있다. 본 논문은 구동륜과 조향의 능도자유도 증가에 따른 인휠 플랫폼 차량의 구동성능 향상을 나타낸다. 독립 조향과 구동을 사용하는 인휠 플랫폼 차량은 기존차량보다 성능을 향상시킬 수 있다. 본 논문은 세 개의 인휠 플랫폼 차량을 다룬다. (1) 1-축 구동을 사용하는 후륜 인휠 구동 차량, (2) 2-축 구동과 전륜 독립조향을 사용하는 4륜 인휠 구동 및 전륜 조향 차량, (3) 구동 및 조향에 대하여 전체 능동 자유도를 갖는 6륜 인휠 구동 및 조향 차량. 각 차량은 차량모델, 제어 알고리즘, 시뮬레이션 및 검증 3가지로 구성되어 있다. 첫 번째로, 차량모델은 독립 조향과 구동을 사용하는 인휠 플랫폼 차량을 위하여 트럭심 소프트웨어를 사용한다. 두 번째로, 제어 알고리즘은 구동제어 (첫 번째 차량에만 적용), 횡 방향 운동을 향상시키기 위하여 직접 요모멘트 제어, 에너지 절약 관점에서 타이어 힘 분배 방법을 설명한다. 마지막은 시뮬레이션 및 검증이다. 독립 조향 및 구동의 사용은 인휠 플랫폼 차량이 추가적인 복잡한 제어 시스템을 사용하지 않고 효과적인 구동력 제어와 요 모멘트 기능을 수행할 수 있는 것을 보인다. 다축 구동차량은 인휠 플랫폼 차량이 전기 차량으로 바뀌기 때문에 에너지 절약을 고려해야 한다.|With the recent advancement of control method and battery technology, the electric vehicle has been researched to replace the conventional vehicle with electric vehicle with the view point of the environmental concerns and energy conservation. An electric vehicle which is equipped with the independent steering system and in-wheel motors has advantage in terms of control. For example, the different torque which generated by left and right wheels directly can make yaw moment and the independent steering using outer wheel control is able to reduce the sideslip angle. And, Multi-axle driving vehicles that are used in special environments require high driving performance, steering performance, and stability. Among these vehicles, 6WD/6WS vehicles with middle wheels have structural safety by distributing the load and reducing the pitch angle during rapid acceleration and braking. 6WD/6WS vehicles are favored for military use in off-road operations because of their high maneuverability and mobility on extreme terrains and obstacles. 6WD vehicles that use an in-wheel motor can generate independent wheel torque without other mechanical parts. This paper presents the enhanced driving performance of in-wheel platform vehicle with increased active DOF of wheel-driven and steering. Using of independent steering and driving system, in-wheel platform vehicle can improve a performance better than conventional vehicle. This paper deal with three in-wheel platform vehicles: (1) rear in-wheel driving vehicle with only 1-axis driving, (2) four in-wheel driving and front wheel steering vehicle with 2-axis driving and front independent steering, (3) six in-wheel driving and steering with fully active DOF of driving and steering. Each vehicle consist of three parts; vehicle model, control algorithm, and simulation results and verification. First, vehicle model is application of TruckSim software for in-wheel platform vehicle using independent steering and driving. Second, control algorithm describes traction control (only application of the first vehicle), direct yaw-moment control for improved lateral motion, and tire force distribution method in view of energy saving. Last is simulation and verification. Using the independent steering and driving show that in-wheel platform vehicle can achieve effective traction control and direct yaw-moment function without complicated control system additionally. Multi-axle driving vehicle has to consider the energy saving because the in-wheel platform vehicle is changing to electric vehicle.; With the recent advancement of control method and battery technology, the electric vehicle has been researched to replace the conventional vehicle with electric vehicle with the view point of the environmental concerns and energy conservation. An electric vehicle which is equipped with the independent steering system and in-wheel motors has advantage in terms of control. For example, the different torque which generated by left and right wheels directly can make yaw moment and the independent steering using outer wheel control is able to reduce the sideslip angle. And, Multi-axle driving vehicles that are used in special environments require high driving performance, steering performance, and stability. Among these vehicles, 6WD/6WS vehicles with middle wheels have structural safety by distributing the load and reducing the pitch angle during rapid acceleration and braking. 6WD/6WS vehicles are favored for military use in off-road operations because of their high maneuverability and mobility on extreme terrains and obstacles. 6WD vehicles that use an in-wheel motor can generate independent wheel torque without other mechanical parts. This paper presents the enhanced driving performance of in-wheel platform vehicle with increased active DOF of wheel-driven and steering. Using of independent steering and driving system, in-wheel platform vehicle can improve a performance better than conventional vehicle. This paper deal with three in-wheel platform vehicles: (1) rear in-wheel driving vehicle with only 1-axis driving, (2) four in-wheel driving and front wheel steering vehicle with 2-axis driving and front independent steering, (3) six in-wheel driving and steering with fully active DOF of driving and steering. Each vehicle consist of three parts