Citation

Yun S, Nishimura H, Murakami S. Trans. Soc. Automot. Eng. Jpn. 2015; 46(2): 399-406.

Copyright

(Copyright © 2015, Society of Automotive Engineers of Japan)

DOI

10.11351/jsaeronbun.46.399

PMID

unavailable

Abstract

This paper proposes design of a vehicle dynamics control system by use of integrated control of front steering angle and driving/braking torque for a micro four in-wheel-motor vehicle, provided as the benchmark problem No.3. Based on frequency responses analysis for the identified model by the subspace system identification method, an H∞ controller is designed to hold the conventional vehicle stability, avoiding conflict between front steering angle and driving/braking torque control. By carrying out simulations under side wind crossing and double lane change, the vehicle stability of the control system designed are validated.

Language: ja

Keywords

Micro Four In-Wheel-Motor Vehicle; System Identification; Vehicle Dynamics Control; Η∞ Control