Research on the Potential of Front Wheel Steering Control for Vehicle Dynamics Control

2021 ◽  
Author(s):  
Sheng Zheng ◽  
Yiming Cheng ◽  
Liangyao Yu
Keyword(s):  
Phase Plane ◽  
Input Sequence ◽  
Front Wheel ◽  
Phase Plane Analysis ◽  
Control Input ◽  
Stable Equilibrium Point ◽  
Model Errors ◽  
Steering Control ◽  
Actuator Constraints ◽  
Stable Area

Abstract The development of active steering control technology not only provides key actuators for intelligent vehicle motion control, but also expands vehicle stability and safety. This paper studies the potential control ability of the front-wheel steering control to the vehicle plane dynamics, and the controllable area boundary is designed on the phase plane of side slip angle and yaw rate. Previous studies have defined a dynamics stable area on the vehicle states phase plane, in which the vehicle state can autonomously return to a stable equilibrium point. The area outside the stable area are divided into the controllable area and the uncontrollable area in this paper. In the controllable area, the front-wheel steering control has the ability to pull the vehicle states back towards the stable area. Considering actuator constraints and model errors, based on the principle of safety design, a band-shaped critical area is designed to separate the controllable area from the uncontrollable area, and the linear mathematical model of the controllable area boundary is designed. In order to verify the rationality of the controllable area definition, nonlinear model predictive controller is designed to control the vehicle outside the dynamics stable area. The controller uses the high-fidelity nonlinear vehicle model and the magic formula tire model as the state equation constraints, and the practical steering actuator constraints are used as the control input constraints, and the nonlinear numerical optimization solver is used to solve the optimal steering input sequence. The phase plane analysis of the controlled vehicle verifies the rationality of the controllable area defined in this paper.

Differential steering-based electric vehicle lateral dynamics control with rollover consideration

2019 ◽  
Vol 234 (3) ◽  
pp. 338-348
Author(s):  
Hui Jing ◽  
Rongrong Wang ◽  
Cong Li ◽  
Jinxiang Wang
Keyword(s):  
Electric Vehicles ◽  
Measurement Problem ◽  
Low Cost ◽  
Steering System ◽  
Front Wheel ◽  
Steering Control ◽  
Lateral Velocity ◽  
Lateral Dynamics ◽  
Vehicle Rollover ◽  
Differential Steering

This article investigates the differential steering-based schema to control the lateral and rollover motions of the in-wheel motor-driven electric vehicles. Generated from the different torque of the front two wheels, the differential steering control schema will be activated to function the driver’s request when the regular steering system is in failure, thus avoiding dangerous consequences for in-wheel motor electric vehicles. On the contrary, when the vehicle is approaching rollover, the torque difference between the front two wheels will be decreased rapidly, resulting in failure of differential steering. Then, the vehicle rollover characteristic is also considered in the control system to enhance the efficiency of the differential steering. In addition, to handle the low cost measurement problem of the reference of front wheel steering angle and the lateral velocity, an [Formula: see text] observer-based control schema is presented to regulate the vehicle stability and handling performance, simultaneously. Finally, the simulation is performed based on the CarSim–Simulink platform, and the results validate the effectiveness of the proposed control schema.

A PHASE-PLANE DESCRIPTION OF NONLINEAR TRAVELING WAVES IN BUBBLY LIQUIDS

1999 ◽  
Vol 07 (02) ◽  
pp. 71-82
Author(s):  
A. NADIM ◽  
D. GOLDMAN ◽  
J. J. CARTMELL ◽  
P. E. BARBONE
Keyword(s):  
Equation Of State ◽  
Fixed Points ◽  
Traveling Wave ◽  
Phase Plane ◽  
Volume Fraction ◽  
Low Frequency ◽  
Traveling Wave Solutions ◽  
Bubbly Liquid ◽  
Phase Plane Analysis ◽  
Bubbly Liquids

One-dimensional traveling wave solutions to the fully nonlinear continuity and Euler equations in a bubbly liquid are considered. The elimination of velocity from the two equations leaves a single nonlinear algebraic relation between the pressure and density profiles in the mixture. On assuming the bubbles to have identical size and taking the volume fraction of bubbles in the medium to be small, an equation of state which relates the mixture pressure to the density and its first two material time-derivatives is derived. When this equation of state is linearized and combined with the laws of conservation of mass and momentum, a nonlinear, second-order, ordinary differential equation is obtained for the density as a function of the single traveling wave coordinate. A phase-plane analysis of this equation reveals the existence of two fixed points, one of which is a saddle and the other a node. A single trajectory connects the two fixed points and corresponds to a traveling shock wave solution when the Mach number of the wave, defined as the ratio of traveling wave speed to the low-frequency speed of sound in the bubbly liquid, exceeds unity. The analysis provides a qualitative explanation of the oscillations behind shocks seen in experiments on bubbly liquids.

Whole-body phase plane analysis for standard maximum vertical jump assessment

2021 ◽  
Vol 90 ◽  
pp. 203-204
Author(s):  
C. Rodrigues ◽  
M. Correia ◽  
J. Abrantes ◽  
B. Rodrigues ◽  
J. Nadal
Keyword(s):  
Phase Plane ◽  
Vertical Jump ◽  
Whole Body ◽  
Phase Plane Analysis ◽  
Plane Analysis

On the Structure of the Optimal Solution to a Periodic Drug-Delivery Problem

2017 ◽  
Vol 139 (7) ◽  
Author(s):  
Mohammad Ghanaatpishe ◽  
Hosam K. Fathy
Keyword(s):  
Drug Delivery ◽  
Optimal Solution ◽  
Input Sequence ◽  
Control Input ◽  
Piecewise Constant ◽  
Delivery Problem ◽  
Pkpd Model ◽  
Periodic Input ◽  
Discrete Values ◽  
Insight Into

This paper examines the shaping of a drug's delivery—in this case, nicotine—to maximize its efficacy. Previous research: (i) furnishes a pharmacokinetic–pharmacodynamic (PKPD) model of this drug's metabolism; (ii) shows that the drug-delivery problem is proper, meaning that its optimal solution is periodic; (iii) shows that the underlying PKPD model is differentially flat; and (iv) exploits differential flatness to solve the problem by optimizing the coefficients of a truncated Fourier expansion of the flat output trajectory. In contrast, the work in this article provides insight into the structure of the theoretical solution to this optimal periodic control (OPC) problem. First, we argue for the existence of a bijection between feasible periodic input and state trajectories of the problem. Second, we exploit Pontryagin's maximum principle to show that the optimal periodic solution has a bang–singular–bang structure. Building on these insights, this article proposes two different numerical methods for solving this OPC problem. One method uses nonlinear programming (NLP) to optimize the states at which the optimal solution transitions between the different solution arcs. The second method approximates the control input trajectory as piecewise constant and optimizes the discrete values of the input sequence. The paper concludes by discussing the computational costs of these two algorithms as well as the importance of the associated insights into the structure of the optimal solution trajectory.

Settling Control of the Triple-Stage Hard Disk Drives Using Robust Output Feedback Model Predictive Control

2016 ◽  
Author(s):  
Huy Nguyen ◽  
Omid Bagherieh ◽  
Roberto Horowitz
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Output Feedback ◽  
Frequency Control ◽  
Hard Disk Drives ◽  
Low Frequency ◽  
Hard Disk ◽  
Control Input ◽  
Feedback Model ◽  
Actuator Constraints

Track settling control for a hard disk drive with three actuators has been considered. The objective is to settle the read/write head on a specific track by following the minimum jerk trajectory. Robust output feedback model predictive control methodology has been utilized for the control design which can satisfy actuator constraints in the presence of noises and disturbances in the system. The controller is designed based on a low order model of the system and has been applied to a higher order plant in order to consider the model mismatch at high frequencies. Since the settling control generally requires a relatively low frequency control input, simulation result shows that the head can be settled on the desired track with 10 percent of track pitch accuracy while satisfying actuator constraints.

scholarly journals Phase-plane analysis of driven multi-lane exclusion models

2012 ◽  
Vol 2012 (04) ◽  
pp. P04004 ◽  
Author(s):  
Vandana Yadav ◽  
Rajesh Singh ◽  
Sutapa Mukherji
Keyword(s):  
Phase Plane ◽  
Phase Plane Analysis ◽  
Plane Analysis
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