C09 スキッドステアモードにおける制駆動力のMinimax最適配分(M-OS6-2:運動制御とシミュレーションの融合II,M-OS6 運動制御とシミュレーションの融合,M-OS16 MBSE(モデルベースシステムズエンジニアリング)と1D-CAEジョイントセッション,「海を越え,国を越え,世代を超えて!」)

抄録

This study focuses on the skid steer of a steer-by-wire vehicle in a fallback operation mode that is to be invoked upon failure of the steering system. The optimum tire force distribution is determined with the aim of improving the maneuverability. Generally, in the skid steer mode, a vehicle is controlled using the difference between the traction/braking forces of the left and right half bodies. In other words, the direct yaw-moment control singularly turns the vehicle body, and the effects of this measure depend on the distribution of the traction/braking forces. In this study, the minimax optimization of the tire workload derived in the authors' previous study is compared with an intuitive square sum minimization. Further, the motor torque control required to follow the reference values of the traction/braking forces is derived; this control gives the reference slip ratios using the brush model. Numerical simulations are performed using CarSim, and the simulation results are used to verify the effects of the minimax optimizations.