구동력 제어 시스템의 제어기 설계에 관한 연구

Abstract

Excessive traction torque while starting on slippery roads and slopes causes the wheels to spin, consequently reducing the directional stability and the traction force. It may be a difficult task for normal dirvers to steer under these conditions. To solve this problem, researches on the traction control system (TCS) that controls the traction torque using various vehicle parts have been conducted. But these commercial TCSs use experimental methods such as lookup table and gain-scheduling to achieve proper performance under various road and vehicle conditions. This paper propopses a novel brake torque controller, which is insensitive to the variation of vehicle mass, brake gain and road conditions, and throttle angle controller using multiple sliding mode based on the engine model. Through the hybrid use of two controllers, the suggested controller could gain traction force and directional stability.