Integrated control systems of active front steering and direct yaw moment control using dynamic inversion

2013 ◽  
Author(s):  
Inseok Yang ◽  
Sungil Byun ◽  
Byungseok Seo ◽  
Dongik Lee ◽  
Dong Seog Han
Keyword(s):  
Control Systems ◽  
Integrated Control ◽  
Dynamic Inversion ◽  
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.

Integrated Control of Active Rear Wheel Steering and Direct Yaw Moment Control

1997 ◽  
Vol 27 (5-6) ◽  
pp. 357-370 ◽  
Author(s):  
MASAO NAGAI ◽  
YUTAKA HIRANO ◽  
SACHIKO YAMANAKA
Keyword(s):  
Integrated Control ◽  
Rear Wheel ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Yaw Moment

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.

Coordination control of active front steering and direct yaw moment control based on stability judgment for AVs stability enhancement

2021 ◽  
pp. 095440702110181
Author(s):  
Xinxin Yao ◽  
Xianguang Gu ◽  
Ping Jiang
Keyword(s):  
Control Strategy ◽  
Coordination Control ◽  
Tracking Accuracy ◽  
Stability Performance ◽  
Direct Yaw Moment Control ◽  
Active Front Steering ◽  
Yaw Moment Control ◽  
Moment Control ◽  
The Stability ◽  
Yaw Moment

A coordination control strategy based on stability judgment is presented for autonomous vehicles (AVs) aiming to enhance the handling and stability performance. Firstly, the stability judgment scheme is used to evaluate the real-time stability level of vehicles based on the Self-Organizing Feature Map (SOFM) neural network and K-Means algorithm. Secondly, a coordination controller of active front steering (AFS) and direct yaw moment control (DYC) is designed to track the desired vehicle motion. To enhance the handling and stability of AVs, the weights of AFS and DYC controllers are adaptively adjusted according to the vehicle stability level. Finally, the effectiveness of the proposed method is verified in co-simulation environment of CarSim and Simulink, and a rapid control prototyping test is implemented to evaluate the feasibility and robustness. The results indicate that the stability judgment scheme and coordination control strategy for AVs can not only satisfy the requirements of path tracking accuracy but also enhance the handling and stability performance.

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