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무향 칼만 필터를 이용한 타이어 수직하중 변화 추정

Title
무향 칼만 필터를 이용한 타이어 수직하중 변화 추정
Other Titles
Estimation of Vertical Load Variation on a Tire Using Unscented Kalman Filter
Author
정정주
Keywords
롤 역학; 샤시 제어; 무향 칼만 필터; 타이어 수직력; 횡방향 하중이동; 도로 마찰 계수; Roll dynamis; Chassis control; Unscented kalman filter; Vertical tire forces; Lateral load transfer; Road friction coefficient
Issue Date
2020-01
Publisher
한국자동차공학회
Citation
한국자동차공학회 논문집, v. 28, no. 1, page. 43-52
Abstract
In this study, we present an estimator of vertical tire forces based on Unscented Kalman Filter(UKF) to improve the performance of the chassis control. When the vehicle is maneuvered to change lanes, the vertical load transfer caused by the centrifugal force can affect cornering stability and rollover. In the previous study, a Kalman Filter with a fixed gain, obtained from infinite horizon, has been conventionally used. However, this estimator does not fully compensate for the model’s uncertainty on slippery road conditions. To reflect the model’s uncertainty effectively, this paper is proposing a new estimator of vertical tire forces with UKF. Moreover, to reflect roll behavior on the low road friction coefficient accurŀately, we used roll rate information. The effectiveness and the performance of the proposed method were validated by using CarSim for vehicle dynamics.
URI
http://journal.ksae.org/_common/do.php?a=full&bidx=1806&aidx=22274https://repository.hanyang.ac.kr/handle/20.500.11754/160932
ISSN
1225-6382; 2234-0149
DOI
10.7467/KSAE.2020.28.1.043
Appears in Collections:
COLLEGE OF ENGINEERING[S](공과대학) > ELECTRICAL AND BIOMEDICAL ENGINEERING(전기·생체공학부) > Articles
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