Vehicle direct yaw moment control system based on the improved linear quadratic regulator

2021 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Xianyi Xie ◽  
Lisheng Jin ◽  
Guo Baicang ◽  
Jian Shi
Keyword(s):  
Linear Quadratic Regulator ◽  
Objective Evaluation ◽  
Linear Quadratic ◽  
Vehicle Handling ◽  
Content Type ◽  
The Road ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Yaw Moment

Purpose This study aims to propose an improved linear quadratic regulator (LQR) based on the adjusting weight coefficient, which is used to improve the performance of the vehicle direct yaw moment control (DYC) system. Design/methodology/approach After analyzing the responses of the side-slip angle and the yaw rate of the vehicle when driving under different road adhesion coefficients, the genetic algorithm and fuzzy logic theory were applied to design the parameter regulator for an improved LQR. This parameter regulator works according to the changes in the road adhesion coefficient between the tires and the road. Hardware-in-the-loop (HiL) tests with double-lane changes under low and high road surface adhesion coefficients were carried out. Findings The HiL test results demonstrate the proposed controllers’ effectiveness and reasonableness and satisfy the real-time requirement. The effectiveness of the proposed controller was also proven using the vehicle-handling stability objective evaluation method. Originality/value The objective evaluation results reveal better performance using the improved LQR DYC controller than a front wheel steering vehicle, especially in reducing driver fatigue, improving vehicle-handling stability and enhancing driving safety.

scholarly journals A gain scheduled robust linear quadratic regulator for vehicle direct yaw moment Control

Mechatronics ◽  
2018 ◽  
Vol 51 ◽  
pp. 31-45 ◽  
Author(s):  
Zhengyuan Wang ◽  
Umberto Montanaro ◽  
Saber Fallah ◽  
Aldo Sorniotti ◽  
Basilio Lenzo
Keyword(s):  
Linear Quadratic Regulator ◽  
Linear Quadratic ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Gain Scheduled ◽  
Yaw Moment

Direct Yaw Moment Control for Motorized Wheel Electric Vehicles

2001 ◽  
Author(s):  
Avesta Goodarzi ◽  
Ebrahim Esmailzadeh ◽  
G. R. Vossoughi
Keyword(s):  
Electric Vehicle ◽  
Electric Vehicles ◽  
Considerable Improvement ◽  
Control Law ◽  
Traction Control ◽  
Vehicle Handling ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Yaw Moment

Abstract A new control law for direct yaw moment control of an electric vehicle is developed. Although this study is considered as part of a global control system for the traction control of a four motorized wheel electric vehicle, but the results of this study is quite general and can be applied to other types of vehicles. The dynamic model of the system has been analyzed and, in accordance with the optimal control theory, an optimal controller is designed. Two different versions of the control law have been considered and the performance of each version has been separately studied and compared with each other. Finally, the numerical simulation of the vehicle-handling model with and without the use of the optimal yaw moment controller has been carried out. Results obtained indicate that considerable improvement in the vehicle handling has been achieved when the optimal yaw moment controller is engaged.

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

2014 ◽  
Vol 136 (5) ◽  
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.

scholarly journals Comparison of Typical Controllers for Direct Yaw Moment Control Applied on an Electric Race Car

Vehicles ◽  
2021 ◽  
Vol 3 (1) ◽  
pp. 127-144
Author(s):  
Andoni Medina ◽  
Guillermo Bistue ◽  
Angel Rubio
Keyword(s):  
Handling Performance ◽  
Electric Cars ◽  
Control Techniques ◽  
Race Car ◽  
Yaw Rate ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Race Track ◽  
Yaw Moment

Direct Yaw Moment Control (DYC) is an effective way to alter the behaviour of electric cars with independent drives. Controlling the torque applied to each wheel can improve the handling performance of a vehicle making it safer and faster on a race track. The state-of-the-art literature covers the comparison of various controllers (PID, LPV, LQR, SMC, etc.) using ISO manoeuvres. However, a more advanced comparison of the important characteristics of the controllers’ performance is lacking, such as the robustness of the controllers under changes in the vehicle model, steering behaviour, use of the friction circle, and, ultimately, lap time on a track. In this study, we have compared the controllers according to some of the aforementioned parameters on a modelled race car. Interestingly, best lap times are not provided by perfect neutral or close-to-neutral behaviour of the vehicle, but rather by allowing certain deviations from the target yaw rate. In addition, a modified Proportional Integral Derivative (PID) controller showed that its performance is comparable to other more complex control techniques such as Model Predictive Control (MPC).

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.

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