The Curvature Control For A EV to Follow A Neutral Steering Path Regardless of Velocity
vi, 50 p.
- 원문 URL
This paper presents the new curvature control of the EV with new curvature parameter. In previous researches, the direct yaw-moment (DYC) control is proposed to increase the stability of the vehicle, but maneuverability has not been discussed sufficiently. The car handling condition which is called the index parameter of maneuverability is dependent on the vehicle velocity. To achieve the desired vehicle's cornering path, the car handling condition must be considered sufficiently. To control the cornering path, the curvature in real time must be measured. In this paper, We proposed the new curvature parameter for the curvature control system by using a cheep IMU sensor. By using the new parameter, curvature method is proposed which gives the car handling condition regardless of the longitudinal speed. The proposed controller is based on the PI controller to feedback the curvature parameter. The controlled system shows the advantages of DYC regarding to the reference trajectory by the dual motor system. With respect to the uncontrolled model, the effectiveness of the proposed method is validated by numerical examples.