A new strategy for minimum usage of external yaw moment in vehicle dynamic control system

Active variable wheelbase (AVW) has been introduced here as an innovative vehicle dynamic control method in which, the position of the front or rear axle relative to the vehicle C.G. can be actively varied. An attempt has been made to show the potential capabilities of this method in improving the road handling and stability of vehicles regardless of its embedded technical difficulties. For this purpose the proposed method has been conceptually studied in the first step and has been shown that one can generate the stabilizing yaw moment by changing the distance of the vehicle C.G. from the front or rear axles. Then the proposed concept has been theoretically studied using a simple vehicle dynamic model incorporated with the Magic Formula tire model. A comprehensive nonlinear 8 DOF vehicle model and a ‘model following control strategy’ have been used to evaluate the performance of AVW systems. The vehicle dynamic behavior when it is either uncontrolled or equipped with an AVW system has been simulated. Simulation results show that AVW can be considered as an innovative method for vehicle dynamic control in future.

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Vehicle Dynamic Control with 4WS, ESC and TVD under Constraint on Front Slip Angles

Energies ◽

10.3390/en14196306 ◽

2021 ◽

Vol 14 (19) ◽

pp. 6306

Author(s):

Jaewon Nah ◽

Seongjin Yim

Keyword(s):

Dynamic Control ◽

Stability Control ◽

Slip Angle ◽

Control Allocation ◽

Vehicle Dynamic ◽

Steering Angle ◽

Torque Vectoring ◽

Vehicle Dynamic Control ◽

Tire Forces ◽

Yaw Moment

To enhance vehicle maneuverability and stability, a controller with 4-wheel steering (4WS), electronic stability control (ESC) and a torque vectoring device (TVD) under constraint on the front slip angles is designed in this research. In the controller, the control allocation method is adopted to generate yaw moment via 4WS, ESC and TVD. If the front steering angle is added for generating yaw moment, the steering performance of the vehicle can be further deteriorated. This is because the magnitude of the lateral tire forces are limited and the required yaw moment is insufficient. Constraint is imposed on the magnitude of the front slip angles in order to prevent the lateral tire forces from saturating. The driving simulation is performed by considering the limit of the front slip angle proposed in this study. Compared to the case that uses the existing 4WS, the results of this study are derived from the actuator combination that enhances performance while maintaining stability.

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Innovative Active Vehicle Safety Using Integrated Stabilizer Pendulum and Direct Yaw Moment Control

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.4027499 ◽

2014 ◽

Vol 136 (5) ◽

Cited By ~ 7

Author(s):

Avesta Goodarzi ◽

Fereydoon Diba ◽

Ebrahim Esmailzadeh

Keyword(s):

Control System ◽

Model Simulation ◽

Dynamic Control ◽

Superior Performance ◽

Steering Control ◽

Pendulum System ◽

Direct Yaw Moment Control ◽

Yaw Moment Control ◽

Moment Control ◽

Yaw Moment

Basically, there are two main techniques to control the vehicle yaw moment. First method is the indirect yaw moment control, which works on the basis of active steering control (ASC). The second one being the direct yaw moment control (DYC), which is based on either the differential braking or the torque vectoring. An innovative idea for the direct yaw moment control is introduced by using an active controller system to supervise the lateral dynamics of vehicle and perform as an active yaw moment control system, denoted as the stabilizer pendulum system (SPS). This idea has further been developed, analyzed, and implemented in a standalone direct yaw moment control system, as well as, in an integrated vehicle dynamic control system with a differential braking yaw moment controller. The effectiveness of SPS has been evaluated by model simulation, which illustrates its superior performance especially on low friction roads.

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