Deign Metod o Diving Foce and Electic Poe Steeing Contol to Ipove Veicle Lateal Motion Caacteitic Tutou TASHIRO Sigeyuki HOSOE In ti pape, e popoe ne contol and appopiate deign etod o diving oce and Electic Poe Steeing (EPS) Tee contol ipove te veicle lateal otion caacteitic Fit, kinetic equation including te caacteitic o te EPS yte, and veicle lateal and longitudinal otion ae claiied Contol-deign policie ae deived o tei equency epone Ten, uing te H-ininity contol teoy, it i ipotant to ind ay to copenate o extenal dituance and caacteitic vaiation, in ode to ealize a diving oce contolle ic copenate o longitudinal and vetical dituance at te eel, and an EPS contolle ic copenate o veicle lateal otion vaiation and lateal dituance at te eel Finally, tei eectivene i on uing iulation and veicle expeientation ey od: Motion contol, Autooile, Maneuveaility, Rout contol, Electic poe teeing, Diving oce contol
T J + C + ( ) R T J C J + C T R R T J C R T J C J C T Ta Toion a Gea Pinion ( ) T Steeing eel Steeing toque eno Rack Weel & tie Moto a R T a R T a T t T A + BU T, U [ T T T ] T V + γ F β I z γ I xz Fy Ly Fy Ly I I γ V β + γ C t xz V F y F y β γ L y L y I xz I z I Veicle oving diection ( ) Veicle lip angle β y Ya ate γ y ( + g ) a Rolling angle Fig EPS odel Fig Veicle lateal otion odel
C F y F y βγ F F y y y y L β γ V L β + γ V y y y y y V A T a F y L a (kn/ad) A T L ( V,, ) + BU T β γ, U y y F y F y [ F F ] Fig 3 Coneing poe caacteitic 8 6 3 5 6 7 8 Vetical oce (N) y y T xz z C x + ( x ) x x Fx C x + ( x ) x x Fx C x ( x ) ( ) x x x C x z + z + l + z l + C z + l + C z l F z z ( ) ( ) ( z + l ) l ( z l ) ( x x ) ( x x ) I + l C C C x x x x x x + C l z + l C l z l L F L F x z x z
Fx Fz ( x,z) Ove-ping Unde-ping (Rea) Fz Unde-ping (Font) ( x, ) F x ( x, ) x z T T Fy Fy Fx Fx Fz Fz Longitudinal odel V Lateal odel Fig 5 Veicle odel tuctue Ta Stee odel Fig Veicle longitudinal otion odel I L x L x x z C z z C z C C x x x xz z F y F y U 3 3 A3 3 + B3U 3 x x x [ F F F F ] T x x x x x z z z z ẋ ẋ T z z ( z + l ) ( z l ) x x z + l T a V V + C + C z z x z l x ẋ + + x x
T t T R y y 35 3 5 5 - - Fequency (Hz) Fig 6 EPS conventional contolle caacteitic Tale F x F x F z F z F z F z F x F x F y F y V Paa J i i J J R L y I z z C z C L x p Value 5 (kg ) (N/ad) 33 (kg ) 98 (kg ) 73 8 (kg) 5 () 6 () 65 (kg ) 55 (N/ad) 6 (kg) (kg) 587 (N/) 85 (N/) 5 (N/ad) 3 (N/ad) 6 () 55 () 7 (N) Paa C i R C C L L y I xz I C z C z C L x I Value (N/ad) 367 3 (kg /) 9 (kg /) 5 () 6 (kg) () (kg ) 3 (kg ) 5 (N/ad) (kg) 573 (N/) (N/) 5 (N/ad) 3 (N/ad) () 5 (kg ) 5 (N) - - -6-8 F ** - - - Fz Fx F ** Fz Fx -6 - Fequency (Hz) Fig 7 Fequency epone ( /,,, ) F z F ** F z V F x F x
-9 - - - -3-9 - - - -3 Fig 8 Fequency epone (/, ) -9 - - - -3-9 - - - -3 V:55k/ V:65k/ ż F z F z F x F x F x F x F x F x F x F Fy Fy - Fequency (Hz), : Min, : Max : Min, : Max : Max, : Min F y Fy Fy F y - Fequency (Hz) Fig 9 Fequency epone (/, ) F y F y F x W Fig Longitudinal otion genealized plant P pt pt pt Fz Fz F u Ppt pt W W W W F y F y Ta β F y Fx Longitudinal odel z - W 5-5 - Standad Max -5 Min - - Fequency (Hz) Fig Diving oce ealization caacteitic γ F y Ta z y
C td F y F y y y y y y y y 3 y y 3, y y y T t T t T C td W 3 F y (N) 5-5 Conventional - Popoed Stee Popoed Stee+Dv -5 3 5 6 7 8 Tie () - - -6-8 - Fequency (Hz) Fig Fequency epone o W, W (N/) 5 Fig 5 Siulation eult o - 95 Conventional Popoed Stee Popoed Stee+Dv 9 3 5 6 7 8 Tie () T u T Ta Stee odel W3 L Ctd Fy Lateal odel β β L/V γ - L/V γ y y z y (ad) 5 Fig 6 Siulation eult o T t 35 Conventional Popoed Stee Popoed Stee+Dv 3 3 5 6 7 8 Tie () Fig 3 Steeing - lateal otion genealized plant Fig 7 Siulation eult o 9 8 7 6 5 3 - - Fequency (Hz) Fig Fequency epone o W 3 (ad) 5 8 6 Conventional Popoed Stee Popoed Stee+Dv 3 5 6 7 8 Tie () Fig 8 Siulation eult o
T t T t ( -3 ad) ( ) (N) 5 9 6 8 6 3 Tie () Fig 9 Expeiental eult it conventional contol ( -3 ad) ( ) (N) 5 9 6-6 3 Tie () Fig Expeiental eult it popoed contol (ad) ( ) (N) 5 6-5 5 Tie () Fig Expeiental eult it conventional contol (ad) ( ) (N) 5 6-5 5 Tie () Fig Expeiental eult it popoed contol
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