2017 年 83 巻 848 号 p. 16-00517
Recently, in regards to vehicle steering control system based on steer by wire (SBW), the relationship between the vehicle response and steering input could change flexibly. There are some previous studies (e.g. H∞, LQG, Model Matching etc. ) to similar researches, but these researches are mutually exclusive for the desired response and robustness. We report the evaluation results of the robust steering control law by combination of model matching and optimal observer, which can realize compatible of vehicle desired response and robust characteristics to steer input disturbance simultaneously. Generally, this offered system can accommodate to develop the SBW system which realize compatible of vehicle desired response and robust characteristics to steer input disturbance simultaneously. Especially, the function to eliminate the input disturbance allows the efficient design to develop the vehicle control law realize compatible of the maneuverability and dynamic stability involving the static stability characteristics. The control plant, which abstracts the actual vehicle characteristics by linear bicycle model using the linear cornering stiffness, is positioned as the evaluation tool to verify the desired response and the robustness of offered control law. Although this linear bicycle model plant is positioned for the evaluation tool, in accordance with this research developing, we would verify the effect of this control law to the actual vehicle characteristics.
