KR0182219B1 - Steering analysis method of 2-wheel steering car - Google Patents

Steering analysis method of 2-wheel steering car Download PDF

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Publication number
KR0182219B1
KR0182219B1 KR1019960010651A KR19960010651A KR0182219B1 KR 0182219 B1 KR0182219 B1 KR 0182219B1 KR 1019960010651 A KR1019960010651 A KR 1019960010651A KR 19960010651 A KR19960010651 A KR 19960010651A KR 0182219 B1 KR0182219 B1 KR 0182219B1
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vehicle
steering
wheel
car
analysis method
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KR1019960010651A
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KR970069808A (en
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이영화
정한성
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김영귀
기아자동차주식회사
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0022—Gains, weighting coefficients or weighting functions
    • B60W2050/0025—Transfer function weighting factor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/303—Speed sensors

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)

Abstract

본 발명은 종래의 2륜조향자동차의 조향해석방법에서는 돌풍해석과 관련해서 고속주행시의 급차선변경에 대한 2륜조향자동차의 성능은 거의 알려진 것이 없어서, 정확하게 자동차의 주행특성을 해석하는 것이 곤란하고, 또한 공기 저항등의 외란에 대해 자동차의 안전성이 부족하다는 문제점도 있어서 이를 해결할 목적으로, 2륜조향자동차에 있어서, 자동차의 운동방정식이 다음과 같은 수식에 의하여 산출되는 것을 특징으로 하는 2륜조향자동차의 조향해석방법을 제공한다.In the conventional steering analysis method of a two-wheeled steering vehicle, the performance of a two-wheeled steering vehicle for changing a lane of a high-speed driving in relation to a gust analysis is hardly known. Therefore, it is difficult to accurately analyze driving characteristics of a vehicle. In addition, for the purpose of solving the problem of the lack of safety of the vehicle against disturbances such as air resistance, in the two-wheel steering vehicle, the equation of motion of the vehicle is calculated by the following formula Provides a steering analysis method of the car.

여기서,here,

이고, ego,

이다. to be.

그리고,이며,And, ,

여기서,이다.here, to be.

Description

[명세서][Specification]

2륜조향자동차의 조향해석장치Steering analysis device of two-wheel steering vehicle

[도면의 간단한 설명][Brief Description of Drawings]

제1도는 본 발명에 다른 2륜조향자동차의 조향해석장치의 개략적인 블록구성도.1 is a schematic block diagram of a steering analysis device of a two-wheel steering vehicle according to the present invention.

제2도는 본 발명에 따른 2륜조향자동차의 조향해석장치에서 적용되는 횡풍을 받고 있는 자동차 모델을 나타낸 개략도이다.2 is a schematic view showing a model of a vehicle undergoing a transverse wind applied in the steering analysis device of a two-wheel steering vehicle according to the present invention.

* 도면중 주요부위에 대한 부호설명 ** Explanation of Signs of Major Parts in Drawings *

10 : 자동차 12 : 무게중심10: car 12: center of gravity

14 : 전륜 16 : 후륜14: front wheel 16: rear wheel

20 : 횡풍20: wind blow

[발명의 상세한 설명]Detailed description of the invention

본 발명은 2륜조향자동차의 조향해석장치에 관한 것으로서, 보다 상세하게는 돌풍 등의 외란이 작용하는 경우에도 보다 정확하게 자동차의 조향상태와 급차선변경시의 차량상태를 해석하는 것이 가능한 2륜조향자동차의 조향해석장치에 관한 것이다.The present invention relates to a steering analysis device of a two-wheel steering vehicle, and more particularly, two-wheel steering capable of more accurately analyzing the steering state of the vehicle and the vehicle state at the time of changing the lane, even when disturbances such as gusts are applied. It relates to a steering analysis device of a vehicle.

일반적으로 자동차는 자동차의 중요 부분을 이루게 되는 새시와, 상기 새시위에 설치되는 운전석이나 객실등을 구성하는 보디로 구성된다.In general, a vehicle is composed of a chassis that forms an important part of the vehicle, and a body constituting a driver's seat or a cabin installed in the chassis.

상기한 새시는 엔진과, 상기한 엔진의 동력을 전달받는 동력전달장치와, 차량의 주행 방향을 조향장치와, 주행중 노면의 충격이 자동차에 전달되는 것을 차단하는 현가장치 등으로 구성되어 있다.The chassis is composed of an engine, a power transmission device for receiving the power of the engine, a steering device for driving a vehicle, and a suspension device for preventing a vehicle from being impacted by a road surface while driving.

상기 조향장치에는 운전자가 조향휠을 이용하여 자동차의 전륜만을 조향하는 2륜조향자동차와, 조향휠을 이용하여 전륜을 조향하고 또한 전륜각을 이용하여 후륜도 동시에 조향하는 4륜조향자동차가 있다.The steering apparatus includes a two-wheel steering vehicle in which a driver steers only the front wheels of a vehicle by using a steering wheel, and a four-wheel steering vehicle in which the front wheel is steered using the steering wheel and the rear wheel is simultaneously steered using the front wheel angle.

종래의 2륜조향자동차에서는 자동차의 주행특성을 차속, 조향각, 요우속도(yaw velocity)등을 고려한 운동방정식으로 해석한다.In the conventional two-wheel steering vehicle, the driving characteristics of the vehicle are interpreted as a motion equation in consideration of vehicle speed, steering angle, yaw velocity, and the like.

그러나, 종래의 2륜조향자동차의 조향해석에서는 돌풍해석과 관련해서 고속주행시의 급차선변경에 대한 2륜조행자동차의 성능은 거의 알려진 것이 없어서 정확하게 자동차의 주행특성을 해석하는 것이 곤란하다는 문제점이 있었다.However, in the steering analysis of the conventional two-wheel steering vehicle, the performance of the two-wheeled vehicle for the change of the lane during high-speed driving is little known in relation to the gust analysis, which makes it difficult to accurately analyze the driving characteristics of the vehicle. .

또한, 공기 저항등의 외란에 대해 자동차의 안정성이 부족하다는 문제점도 있었었다.In addition, there was a problem that the stability of the car is insufficient for disturbance such as air resistance.

본 발명은 상기와 같은 문제점을 해결하기 위하여 안출된 것으로서, 본 발명의 목적은 고속주행 2륜조향자동차에 외부의 횡풍이 작용하게 될 경우 자동차내에 장착된 각 센서들로부터 출력되는 전기적인 신호를 컴퓨터에 의해 일정한 해석방법에 의해 연산한 후 차량 해석기를 통해 2륜자동차의 조향상태 및 차선변경시의 안전상태를 분석 및 해석하여 최적의 조향상태 및 차선변경시의 안전성을 제공하고자 하는 데 있다.The present invention has been made to solve the above problems, and an object of the present invention is to provide an electric signal output from each sensor mounted in the vehicle when an external transverse wind acts on the high-speed driving two-wheel steering vehicle. It is to provide the optimal steering state and lane change safety by analyzing and analyzing steering state and lane change state of two-wheeled vehicle through vehicle analyzer after calculating by constant analysis method.

상기의 목적을 달성하기 위한 본 발명의 구성을 상세히 설명하면 다음과 같다.Referring to the configuration of the present invention for achieving the above object in detail as follows.

본 발명은 2륜자동차의 주행상태를 해석할 수 있는 장치에 관한 것으로서, 자동차내의 상태를 감지하여 전기적인 신호를 출력할 수 있도록 장착한 차량속도센서와 횡풍속도센서, 요우센서, 조향각센서등을 구비한 센서부와, 상기 센서부에서 출력한 신호를 입력하여 내부 메모리에 각 데이터를 저장, 기록하는 컴퓨터와, 상기 컴퓨터에 저장된 각 데이터를 내부의 프로그램을 통해 산출하여 횡풍등의 외란 강도에 따른 주행상태와 차선변겅시의 안전성을 해석하는 차량해석기를 구성한다.The present invention relates to a device capable of analyzing a driving state of a two-wheeled vehicle, and includes a vehicle speed sensor and a transverse wind speed sensor, a yaw sensor, a steering angle sensor, etc., which are mounted to output an electrical signal by detecting a state of the vehicle. The sensor unit, a computer for inputting the signal output from the sensor unit, and storing and recording each data in the internal memory, and calculating each data stored in the computer through an internal program, Construct a vehicle analyzer that analyzes driving conditions and lane safety.

이와 같이 구성된 본 발명의 작용효과를 상세히 설명하면 다음과 같다.Referring to the effects of the present invention configured as described above in detail.

본 발명은 2륜자동차의 주행상태를 해석할 수 있는 장치에 관한 것으로서, 첨부도면 제1도에서 보는 바와 같이 외부의 조건에 따라 달라지는 2륜자동차의 상태를 전기적인 신호로 출력하는 각 센서를 장착한 센서부는 차량의 조향각이나 요우상태 또는 차량의 속도나 횡풍의 속도를 감지하여 전기적인 신호를 출력하게 된다.The present invention relates to a device capable of analyzing a driving state of a two-wheeled vehicle, and as shown in FIG. 1 of the accompanying drawings, equipped with sensors for outputting an electric signal of a state of a two-wheeled vehicle that varies depending on external conditions. One sensor unit detects the steering angle or yaw of the vehicle or the speed of the vehicle or the wind speed and outputs an electrical signal.

이때 컴퓨터는 센서부의 각 센서에서 출력하는 전기적인 신호를 입력하고 입력된 신호를 일정한 전기적인 신호로 변환한 후 내부 메모리에 저장하게 된다.In this case, the computer inputs an electrical signal output from each sensor of the sensor unit, converts the input signal into a constant electrical signal, and stores the same in an internal memory.

컴퓨터가 내부 메모리에 기록한 각 데이터를 정해진 산출방법에 의해 산출하는 차량해석기는 다음과 같이 조향을 해석하게 된다.The vehicle analyzer, which calculates each data recorded in the internal memory by the computer by a predetermined calculation method, analyzes the steering as follows.

자동차의 주행특성을 해석하기 위하여 자동차의 무게중심에서의 횡속도(v)와 요우속도(r)을 상태변수로 하는 2자유도의 선형모델을 사용하며 이를 도 2에 도시하였다.In order to analyze the driving characteristics of the vehicle, a two-degree-of-freedom linear model using lateral velocity (v) and yaw velocity (r) at the center of gravity of the vehicle as state variables is illustrated in FIG. 2.

횡풍(20)같은 외란을 받고 있는 자동차의 운동방정식은 다응과 같은 수식 (1)으로 주어진다.The equation of motion of a car under disturbance, such as a transverse wind, is given by Equation (1).

여기서, 상기 A는 시스템행렬, 상기 B는 입력행렬, 상기 δf는 전륜조행각이고, 상기 Wf는 횡풍력이다.A is a system matrix, B is an input matrix, δf is a front wheel steering angle, and Wf is a transverse wind force.

상기 시스템행렬(A)은The system matrix A is

이고, ego,

상기 입력행렬(B)은The input matrix B is

이다. to be.

그리고, 상기 a는 자동차의 무게중심(12)에서 전륜14)까지의 거리이며,And, a is the distance from the center of gravity (12) of the vehicle to the front wheels 14,

b는 자동차의 무게중심(12)에서 후륜(16)까지의 거리이며,b is the distance from the car's center of gravity (12) to the rear wheels (16),

d는 자동차의 부게중심(12)에서 횡풍력이 작용하는 거리이며,d is the distance the transverse wind acts at the center of the vehicle (12),

u는 자동차의 주행속도이며,u is the driving speed of the car,

M은 자동차의 질량이며,M is the mass of the car,

Iz은 요우 관성모우멘트(yaw moment of inertia)이고,I z is the yaw moment of inertia,

Cf는 전륜타이어의 코너링강성(conering stiffness)이고,C f is the cornering stiffness of the front tires,

Cr은 후륜타이어의 코너링강성(conering stiffness)C r is the cornering stiffness of the rear tires

한편, 상기 횡풍력은 다음과 같은 수식 (2)으로 표현된다.On the other hand, the transverse wind power is expressed by the following formula (2).

여기서, Cy는 횡풍력의 계수이며,Where Cy is the coefficient of transverse wind force,

p는 공기밀도이고,p is the air density,

s는 전방에 작용하는 면적이다.s is the area acting forward.

그리고, Vres는 자동차에 영향을 미치는 풍속으로서 다음과 같은 수식 (3)으로 표현된다.Vres is the wind speed affecting the vehicle and is expressed by the following equation (3).

여기서 상기 w는 횡풍의 속도이다.Where w is the speed of transverse wind.

따라서, 상기 수식(2)을 통해 차량해석기는 지금까지 고려하지 못한 횡풍의 조향특성을 수식(1)의 운동방정식에 고려함으로써 보다 정확하게 자동차의 조향특성의 해석이 가능할 뿐만 아니라 외란의 자동차에 미치는 영향 등을 해석할 수 있게 된다.Therefore, through the equation (2), the vehicle analyzer considers the steering characteristic of the transverse wind, which has not been considered until now, in the motion equation of Equation (1), which enables not only accurate analysis of the steering characteristics of the automobile, but also affects the disturbance of the vehicle. And so on.

상기에서 설명한 본 발명에 따른 일 실시예의 효과를 설명하면 다음과 같다.Referring to the effects of the embodiment according to the present invention described above are as follows.

위에서 설명한 본 발명에 의하면, 차속과 요우속도로 표현된 2차유도의 조향 해석모델에 횡풍같은 외란의 영향을 추가하여 해석할 수 있으므로 보다 정확한 자동차의 주행특성의 해석이 가능하다.According to the present invention described above, it is possible to analyze by adding the influence of disturbance such as transverse wind to the steering analysis model of the secondary induction expressed by the vehicle speed and yaw speed, so that it is possible to analyze the driving characteristics of the vehicle more accurately.

따라서, 종래의 외란을 무시한 상태보다도 보다 정확하게 자동차가 원하는 경로를 주행하기 위한 최적의 조향각을 찾을 수 있고, 또한 차선변경 같은 과도상태에서의 안전성도 향상시킬 수 있다는 잇점이 있다.Accordingly, there is an advantage that the optimum steering angle for driving the desired path of the vehicle can be found more accurately than the state in which the conventional disturbance is ignored, and the safety in a transient state such as lane change can be improved.

더, 나아가서, 이러한 해석방법은 4륜조향자동차의 후륜조향각의 특성까지도 추후 적용해 해석할 수 있다.Furthermore, this analysis method can be applied later to analyze the characteristics of the rear wheel steering angle of the four-wheel steering vehicle.

Claims (1)

2륜자동차 내부에 장착되어 자동차의 상태를 감지하고 감지된 내용을 전기적인 신호를 출력할 수 있는 센서들로 구성된 센서부에서 출력하는 신호를 입력하여 내부 메모리에 일정한 전기적인 레벨로 변환시켜 저장한 컴퓨터로부터 내부 프로그램을 통해 횡풍에 의한 자동차의 조향각상태와 차선변경시의 안전상태를 산출하여 해석하는 차량해석기를 포함하여 이루어진 조향해석장치에 있어서, 상기 차량해석기가 컴퓨터로부터 입력된 각 데이터는 내부 프로그램에 설정된It is installed inside the two-wheeled vehicle and detects the condition of the vehicle and inputs the signal output from the sensor part composed of sensors that can output the electric signal. A steering analyzer comprising a vehicle analyzer which calculates and analyzes a steering angle state of a vehicle caused by a cross wind and a safety state when changing lanes through an internal program from a computer, wherein each data input from the computer is an internal program. Set on 에 on 과, and, 의 대입하고, Of assignment, 횡풍력을에 대입하여 횡풍력에 의한 자동차에 미치는 영향을 산출하도록 이루어진 2륜조향자동차의 조향해석장치.Transverse wind power of Steering analysis device for a two-wheeled steering vehicle configured to calculate the effect on the vehicle by the lateral wind power by substituting the
KR1019960010651A 1996-04-09 1996-04-09 Steering analysis method of 2-wheel steering car KR0182219B1 (en)

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KR1019960010651A KR0182219B1 (en) 1996-04-09 1996-04-09 Steering analysis method of 2-wheel steering car

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KR1019960010651A KR0182219B1 (en) 1996-04-09 1996-04-09 Steering analysis method of 2-wheel steering car

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KR0182219B1 true KR0182219B1 (en) 1999-04-01

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