A study on a system architecture of model predictive control for vehicle lateral stability차량의 횡방향 안정성 향상을 위한 모델예측제어의 시스템 구조에 관한 연구

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In order to enhance the vehicle lateral stability, an extensive research that includes developing an identifier of tire-road friction coefficient, an Model Predictve Control (MPC) based Elctronic Stability Control (ESC) algorithm, and method of integrating differential braking and Active Font Steering (AFS) were performed. The tire-road friction coefficient is critical information for conventional vehicle safety control systems. Most previous studies in tire-road friction estimation have only considered either longitudinal or lateral vehicle dynamics which tends to cause significant underestimation of the actual tire-road friction coefficient. In this dissertation, the parameters, including the tire-road friction coefficient, of the combined longitudinal and lateral brushed tire model are identified by linearized recursive least square (LRLS) methods which efficiently utilize measurements related to both vehicle lateral and longitudinal dynamics in real time. Simulation study indicates that using the estimated vehicle states and the tire forces of the four wheels, the suggested algorithm not only quickly identifies the tire-road friction coefficient with a great accuracy and a robustness before tires reach their frictional limits but also successfully estimates the two different tire-road friction coefficients of the two sides of a vehicle on a split-m surface. Utilizing the information from the identifier for the tire-road friction coefficient, a method for ESC based on MPC using the bicycle model with lagged tire force to reflect the lagged characteristics of lateral tire forces is developed. This extended bicycle model is applied to the prediction model of the MPC problem for the better description of the vehicle behaviour. In order to avoid the computational burden in finding the optimal solution of the MPC problem using the constrained optimal control theory, the desired states and inputs as references are generated since the solution of the MPC problem c...
Advisors
Choi, Sei-Bumresearcher최세범
Description
한국과학기술원 : 기계공학전공,
Publisher
한국과학기술원
Issue Date
2014
Identifier
591736/325007  / 020105417
Language
eng
Description

학위논문(박사) - 한국과학기술원 : 기계공학전공, 2014.8, [ x, 116 p. ]

Keywords

vehicle; 모델예측제어; 노면마찰계수; 추정; 제어; 차량; control; identification; tire-road friction coefficeint; model predictive control

URI
http://hdl.handle.net/10203/197488
Link
http://library.kaist.ac.kr/search/detail/view.do?bibCtrlNo=591736&flag=dissertation
Appears in Collection
ME-Theses_Ph.D.(박사논문)
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