بهبود فرمان پذيري خودرو با استفاده از كنترل بهينه ي گشتاور ترمز

IMPROVEMENT OF VEHICLE STEERABILITY BY OPTIMAL DIFFERENTIAL BRAKING

A new method to improve vehicle steerability is proposed. In this method vehicle lateral velocity and yaw rate are controlled by applying a differential brake torque to the four wheels. In order to decrease the sensitivity of the system to measurement noise, the frequency shaping linear quadratic regulator (FSLQR) method is used. Performance of the proposed controller is demonstrated by simulation of a double lane change manoeuvre. In this simulation, a 14 degree of freedom dynamic model is used for the vehicle, a nonlinear model for the brake system and an analytical model for the tires.