기준모델 추종제어를 이용한 독립 후륜조향 차량의 조향 특성 해석

Abstract

In this paper, the reference model following control{RMFC) scheme through the optimal control theory is investigated for the independent rear wheel steering(IRWS) vehicle. RMFC vehicle follows the dynamic performance of a virtual vehicle as a reference model designed in the controller. Linear vehicle model of two degrees-of-freedom is used to derive control scheme, which is applied to full vehicle for evaluating handling performances. And, 4WS vehicle through RMFC is compared to the conventional 2WS vehicle and 4WS vehicle in the J-turn test. The RMFC logic is also extended to IRWS vehicle. IRWS with RMFC shows not only the excellent handling performance, but also some advantages in terms of the directional stability and responsiveness from the simulation results.