굴절차량에 대한 조향알고리즘 개발 및 검증

초록

AWS (all wheel steering) is applied to improve the stability and the turning performance. Most automotive cars are mainly controlled by FWS (front wheel steering) system except some cars which are made to improve their stability by using AWS. Articulated vehicles with a pivoting joint for easy turn are difficult to make a sharp turn because of the long body and long wheelbase. Therefore applying AWS to the articulated vehicles is effective to reduce the turning radius. The AWS control method for the articulated vehicles is currently applied to only Phileas vehicles which were developed by APTS. The paper on the design of a controller to guide an articulated vehicle along the path was published but control algorithm for manual driving has not been reported. In the present paper, steering characteristics of the Phileas vehicles have been analyzed and then new algorithm has been proposed. To verify the AWS algorithm, Commercial S/W, ADAMS was used for validity of the dynamic model and algorithm.

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