The present invention relates to an articulation control device for an articulated vehicle, capable of preventing a jackknife phenomenon of an articulated vehicle driven on a sliding road, and an articulation control method thereof. The articulation control device includes: a yaw rate calculation part calculating a desired yaw rate based on a steering angle and speed of an articulated vehicle; a first moment generation part generating a yaw rate control moment based on an error between the desired yaw rate and an actual yaw rate of the articulated vehicle; a second moment generation part generating a hitch damping control moment based on an articulated angular speed of the articulated vehicle; an addition part outputting a final moment for the articulation control of the articulated vehicle by adding the yaw rate control moment and the articulated damping moment; and an articulation control part controlling articulation of the articulated vehicle based on the final moment.
미끄럼 도로를 주행하는 굴절 차량의 잭나이프(jackknife) 현상을 방지할 수 있는 굴절 차량용 굴절 제어 장치 및 그의 굴절 제어 방법에 관한 것으로, 굴절 차량(articulated vehicle)의 조향각과 차속을 토대로 원하는 요레이트(desired yaw rate)를 산출하는 요레이트 산출부, 굴절 차량의 실제 요레이트(actual yaw rate)와 원하는 요레이트 사이의 오차를 토대로 요레이트 제어 모멘트를 생성하는 제1 모멘트 생성부, 굴절 차량의 굴절각속도를 토대로 굴절 댐핑 제어 모멘트(hitch damping control moment)를 생성하는 제2 모멘트 생성부, 요레이트 제어 모멘트와 굴절 댐핑 모멘트를 가산하여 굴절 차량의 굴절 제어를 위한 최종 모멘트를 출력하는 가산부, 그리고 최종 모멘트를 토대로 굴절 차량의 굴절을 제어하는 굴절 제어부를 포함할 수 있다.
APPRATUS AND METHOD FOR CONTROLLING ARTICULATION OF ARTICULATED VEHICLE
굴절 차량용 굴절 제어 장치 및 그의 굴절 제어 방법
24.12.2021
Patent
Elektronische Ressource
Koreanisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES |
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