A modified structure internal model robust control method for the integration of active front steering and direct yaw moment control

2014 ◽  
Vol 58 (1) ◽  
pp. 75-85 ◽  
Author(s):  
Jian Wu ◽  
YouQun Zhao ◽  
XueWu Ji ◽  
YaHui Liu ◽  
ChengQiang Yin
Keyword(s):  
Robust Control ◽  
Internal Model ◽  
Control Method ◽  
Direct Yaw Moment Control ◽  
Active Front Steering ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Yaw Moment

Integrated vehicle chassis control for active front steering and direct yaw moment control based on hierarchical structure

2018 ◽  
Vol 41 (9) ◽  
pp. 2428-2440 ◽  
Author(s):  
Jiaxu Zhang ◽  
Jing Li
Keyword(s):  
Sliding Mode ◽  
Null Space ◽  
Level Control ◽  
Direct Yaw Moment Control ◽  
Active Front Steering ◽  
Yaw Moment Control ◽  
Chassis Control ◽  
Moment Control ◽  
Vehicle Chassis ◽  
Yaw Moment

This paper presents an integrated vehicle chassis control (IVCC) strategy to improve vehicle handling and stability by coordinating active front steering (AFS) and direct yaw moment control (DYC) in a hierarchical way. In high-level control, the corrective yaw moment is calculated by the fast terminal sliding mode control (FTSMC) method, which may improve the transient response of the system, and a non-linear disturbance observer (NDO) is used to estimate and compensate for the model uncertainty and external disturbance to suppress the chattering of FTSMC. In low-level control, the null-space-based control reallocation method and inverse tyre model are utilized to transform the corrective yaw moment to the desired longitudinal slips and the steer angle increment of front wheels by considering the constraints of actuators and friction ellipse of each wheel. Finally, the performance of the proposed control strategy is verified through simulations of various manoeuvres based on vehicle dynamic software CarSim.

Study on Fuzzy PI Control of Vehicle Yaw Moment Based on Optimal Allocation of Braking Forces

2014 ◽  
Vol 556-562 ◽  
pp. 2293-2296
Author(s):  
Gang Li ◽  
Hai Lan Han ◽  
Chao Wang ◽  
Gao Feng Ma
Keyword(s):  
Optimal Allocation ◽  
Control Method ◽  
Hierarchical Control ◽  
Pi Control ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Brake Force ◽  
Moment Control ◽  
Driving Stability ◽  
Yaw Moment

For vehicle direct yaw moment control (DYC) ,the additional yaw moment decision method based on the fuzzy PI control and optimal allocation method of yaw moment based on quadratic programming are studied. Yaw moment control adopts hierarchical control method.The fuzzy PI controller and brake force optimization distributor are designed. The control method is verified through the Matlab/Simulink and CarSim co-simulation experiment.The results show that the control method can make the vehicle track the expected value better and improve the driving stability effectively.

A Comparison of the Relative Benefits of Active Front Steering and Active Rear Steering When Coordinated With Direct Yaw Moment Control

2001 ◽  
Author(s):  
M. A. Selby ◽  
W. J. Manning ◽  
M. D. Brown ◽  
D. A. Crolla
Keyword(s):  
Load Transfer ◽  
Open Loop ◽  
Lateral Acceleration ◽  
Sideslip Angle ◽  
Direct Yaw Moment Control ◽  
Active Front Steering ◽  
Yaw Moment Control ◽  
Moment Control ◽  
The Stability ◽  
Yaw Moment

Abstract This paper studies the benefits of coordinating stability and steerability controllers to reduce vehicle deceleration during limit handling situations. The stability controller, DYC, uses the vehicle brakes to apply a restoring moment when the vehicle sideslip angle and sideslip velocity exceed fixed bounds. This use of the brakes interferes with the longitudinal dynamics of the vehicle in a way that drivers find undesirable. Active front steering (AFS) and active rear steering(ARS) can be used to tune the vehicle handling balance in the low to mid-range lateral-acceleration regime. Earlier work has shown that the use of AFS can reduce the interference observed using DYC alone. The levels of improvement achievable by coordinating AFS and ARS with DYC are quantified using open loop handling simulations tests by predicting the deceleration of the vehicle in an extreme manoeuvre. The results from these simulations are compared to assess the relative benefits of AFS and ARS when coordinated with DYC. The computer simulations are based on a four-degree of freedom vehicle model incorporating longitudinal, lateral, yaw, roll, and load transfer effects.

scholarly journals Integrated control performance of drive-by-wire independent drive electric vehicle

2019 ◽  
Vol 10 ◽  
pp. 16
Author(s):  
Ling Yu ◽  
Sunan Yuan
Keyword(s):  
Electric Vehicle ◽  
Control Method ◽  
Reference Model ◽  
Integrated Control ◽  
Vehicle Stability ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Moment Control ◽  
The Stability ◽  
Yaw Moment

In order to improve the stability and safety of vehicles, it is necessary to control them. In this study, the integrated control method of drive-by-wire independent drive electric vehicle was studied. Firstly, the reference model of electric vehicle was established. Then, an integrated control method of acceleration slip regulation (ARS) and direct yaw moment control (DYC) was designed for controlling the nonlinearity of tyre, and the simulation experiment was carried out under the environment of MATLAB/SIMULINK. The results showed that the vehicle lost its stability when it was uncontrolled; under the control of a single DYC controller, r and β values got some control, but the vehicle stability was still low; under the integrated control of ARS+DYC, the vehicle stability was significantly improved; under the integrated control method, the overshoot, regulation time and steady-state error of the system were all small. Under the simulation of extreme conditions, the integrated control method also showed excellent performance, which suggested the method was reliable. The experimental results suggests the effectiveness of the integrated control method, which makes some contributions to the further research of the integrated control of electric vehicles.

A New DYC Control Strategy Based on Feedforward Control in the Linear Region

2012 ◽  
Vol 442 ◽  
pp. 482-487
Author(s):  
Qi Dong Wang ◽  
He Huang ◽  
Wu Wei Chen
Keyword(s):  
Feedback Control ◽  
Control Method ◽  
Feedforward Control ◽  
Sliding Modes ◽  
Linear Region ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Yaw Moment ◽  
Control Output

This paper discussed a new direct yaw moment control(DYC) method which was coupled with feedforward control by utilizing the estimated cornering stiffness coeficients. Comparing two simultaneously running single track models in the linear region,the feedforward control output was produced. Higher-order sliding modes(HOSM) was used to ensure the robustness of the control system in the limit region. A weight gain was used to combined feedforward control and feedback control. The simulation results in VeDYNA show that this new DYC control method based on the knowledge of cornering stiffness significantly improve the vehicle desired trajectory over that of feedback control alone.

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