Wheel Torque Controller Development Using a Simplified Tire Model for Vehicle Handling Enhancement

2009 ◽  
Author(s):  
Ganesh Adireddy ◽  
Taehyun Shim ◽  
Douglas Rhode
Keyword(s):  
Predictive Control ◽  
Essential Element ◽  
Control Algorithms ◽  
Slip Angle ◽  
Tire Model ◽  
Computationally Efficient ◽  
Vehicle Handling ◽  
Yaw Rate ◽  
Wheel Torque ◽  
Tire Models

A tire model is an essential element in the vehicle controller development and various complexities of tire models have been developed and used. It is highly desirable for the control systems to use a tire model that is computationally efficient and easy to implement in control algorithms while providing desired performance. In this paper, a wheel torque controller was developed using a non-linear predictive control theory, 8 degree of freedom vehicle model, and a simplified nonlinear tire model in order to control the vehicle yaw rate and side slip angle. The performance of this controller was compared to that based on well known Magic Formula tire model. The effectiveness and limitations of the proposed controller were discussed through simulation.

Distribution of Wheel Drive/Brake Torque Using Non-Linear Predictive Control to Enhance Vehicle Handling

2006 ◽  
Author(s):  
Chinar Ghike ◽  
Taehyun Shim ◽  
Jahan Asgari
Keyword(s):  
Predictive Control ◽  
Effective Means ◽  
Torque Control ◽  
Slip Angle ◽  
Differential Distribution ◽  
Vehicle Handling ◽  
Brake Torque ◽  
Emergency Braking ◽  
Non Linear ◽  
Wheel Torque

Wheel torque control is an effective means of improving vehicle handling and stability. Brake-based electronic stability programs which intervene in extreme situations to regulate vehicle behavior are the most common form of wheel torque control. With the advent of advanced driveline technologies, wheel torque control can also be achieved by the differential distribution of available drive torque to all four wheels. Similarly, in combined cornering and braking maneuvers, the applied brake input can be differentially distributed to regulate vehicle handling. This paper proposes an integrated scheme for wheel torque control that combines differential drive/brake torque distribution with the emergency braking control to regulate the vehicle yaw rate and side slip angle. A wheel torque controller was developed using a non-linear predictive control theory, 8 degree of freedom vehicle model, and nonlinear tires. The simulated vehicle responses show improved vehicle handling performance.

Model Predictive Control (MPC) Based Combined Wheel Torque and Steering Control Using a Simplified Tire Model

2010 ◽  
Author(s):  
Ganesh Adireddy ◽  
Taehyun Shim ◽  
Douglas Rhode ◽  
Jahan Asgari
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Effective Means ◽  
Torque Control ◽  
Tire Model ◽  
Steering Control ◽  
Computationally Efficient ◽  
Wheel Torque ◽  
Chassis Control ◽  
Vehicle Chassis

Wheel torque control and active front steer are effective means of improving vehicle handling and stability. In this paper, a vehicle chassis control system that controls both wheel torques at each wheel and front steer has been developed using model predictive control in order to enhance vehicle yaw motion and ability to track the desired trajectory. A simplified nonlinear tire model that is computationally efficient and easy to implement in the control algorithms and an 8 degree of freedom (DOF) vehicle model are used in the controller. The performance of this controller is compared to that based on well known Magic Formula tire model. The effectiveness and limitations of the proposed controller are discussed through simulation.

A Double Interaction Brush Model for Snow Conditions

2019 ◽  
Vol 47 (2) ◽  
pp. 118-140
Author(s):  
Artem Kusachov ◽  
Fredrik Bruzelius ◽  
Mattias Hjort ◽  
Bengt J. H. Jacobson
Keyword(s):  
Low Complexity ◽  
Large Set ◽  
Tire Model ◽  
Vehicle Handling ◽  
Real Time Applications ◽  
Snow Conditions ◽  
Double Interaction ◽  
Tire Models ◽  
Force Characteristics ◽  
Model Approach

ABSTRACT Commonly used tire models for vehicle-handling simulations are derived from the assumption of a flat and solid surface. Snow surfaces are nonsolid and may move under the tire. This results in inaccurate tire models and simulation results that are too far from the true phenomena. This article describes a physically motivated tire model that takes the effect of snow shearing into account. The brush tire model approach is used to describe an additional interaction between the packed snow in tire tread pattern voids with the snow road surface. Fewer parameters and low complexity make it suitable for real-time applications. The presented model is compared with test track tire measurements from a large set of different tires. Results suggest higher accuracy compared with conventional tire models. Moreover, the model is also proven to be capable of correctly predicting the self-aligning torque given the force characteristics.

The Effects of Tire Nonlinearity on Vehicle Steering Stability at High Speed

2014 ◽  
Vol 505-506 ◽  
pp. 301-309
Author(s):  
Hua Dong Xu
Keyword(s):  
High Speed ◽  
Necessary Conditions ◽  
Front Wheel ◽  
Vehicle Safety ◽  
Slip Angle ◽  
Vehicle Speed ◽  
Tire Model ◽  
Dynamics Model ◽  
Steering Angle ◽  
Yaw Rate

The steering stability of a vehicle at high speed is the urgent key problem to be solved of automobile independent development. And it is also the premise and one of the necessary conditions of vehicle safety. Considering of the effects of tire nonlinearity, a 4-DOF dynamics model for a vehicle is established. The yaw rate responses, side slip angle, carriage roll angle and front wheel steering angle with different vehicle speeds are calculated. The calculated values are then compared with the values without considering of the effects of tire nonlinearity. The simulations results show that the vehicle responses can be reflected accurately by using nonlinear tire model. With the bigger vehicle speed, the effects of tire nonlinearity on vehicle high-speed steering stability become more obvious.

Identification of Tire Force and Moment (F&M) Characteristics That Improve Combined Slip Handling Performance

2019 ◽  
Vol 47 (1) ◽  
pp. 55-76
Author(s):  
Terence Wei ◽  
Hans Dorfi
Keyword(s):  
Slip Angle ◽  
Vehicle Handling ◽  
Handling Performance ◽  
Tire Force ◽  
Objective Metrics ◽  
Instrumented Vehicle ◽  
Control Forces ◽  
Different Characteristics ◽  
Tire Models ◽  
The Relationship

ABSTRACT Since tires generate the control forces required for the operation of a vehicle, the tire force and moment (F&M) characteristics have to be designed such that the vehicle can easily be kept under driver control under many driving conditions. However, the relationship between F&M characteristics and vehicle handling performance is not well understood for many driving maneuvers. A better understanding of this relationship would thus provide insight into how to improve the matching between tires and vehicles for increased vehicle stability. Building a large number of tires with different characteristics would be too expensive and time consuming, so an investigation using simulations is preferred. However, one problem with simulations is that handling performance cannot be evaluated by a professional driver (subjective metrics), unlike in outdoor tests. A way of evaluating handling performance in simulation through objective metrics is therefore necessary. In this study, the focus is on vehicle handling performance during simultaneous cornering and braking. Desirable F&M metrics were identified using the following process: Handling simulations were validated using instrumented vehicle measurements of handling behavior at outdoor test facilities. An objective handling metric (peak body slip angle) was identified that has high correlation with professional driver ratings (subjective metric) of combined slip handling performance. The objective metric could therefore be used with simulations to predict the professional driver rating. Many virtual tires were generated by changing F&M characteristics of Pacejka tire models. These virtual tires were used in simulations of combined slip handling maneuvers and evaluated for performance using the objective handling metric. By identifying which changes to F&M metrics had high correlation to changes in handling performance, the primary influencing characteristics were determined. These results were also confirmed by looking at the correlation between F&M metrics of actual tires and their subjective ratings.

Development of Integrated Chassis Control System for Vehicle Handling Enhancement

2008 ◽  
Author(s):  
Chinar Ghike ◽  
Taehyun Shim
Keyword(s):  
Control System ◽  
Tire Model ◽  
Vehicle Handling ◽  
Integrated Chassis Control ◽  
Nonlinear Predictive Control ◽  
Moment Distribution ◽  
Control Scheme ◽  
Wheel Torque ◽  
Chassis Control ◽  
Vehicle Motion

Various active chassis control systems have been developed to improve vehicle handling and stability. Brake-based electronic stability programs and advanced driveline technologies can distribute different wheel torque to all four wheels to regulate vehicle motion. Active front and rear steer systems are widely used to control the vehicle yaw rate and side slip responses. In addition, active anti-roll bars can improve vehicle handling by adjusting roll moment distribution. This paper proposes an integrated chassis control scheme that combines these individual systems using nonlinear predictive control theory. An 8 degree-of-freedom vehicle model is used with a Magic Formula tire model for controller development. The performance of proposed controller is compared to individual control system through simulation and shows significant improvement in vehicle handling.

scholarly journals Multistage Estimators for the Distributed Drive Articulated Steering Vehicle

2020 ◽  
Vol 2020 ◽  
pp. 1-16
Author(s):  
Guangzong Gao ◽  
Jixin Wang ◽  
Tao Ma ◽  
Wenzhong Liu ◽  
Tianlong Lei
Keyword(s):  
Unscented Kalman Filter ◽  
Singular Value ◽  
Tire Model ◽  
Broad Application ◽  
Special Operations ◽  
Yaw Rate ◽  
Lateral Forces ◽  
Tire Forces ◽  
Value Decomposition ◽  
Tire Models

The distributed drive articulated steering vehicle (DDASV) has a broad application prospect in the field of special operations. It is essential to obtain accurate vehicle states for better effect of active control. DDASV dynamic model is presented. To improve robustness, an adaptive strong tracking algorithm is applied to the singular value decomposition unscented Kalman filter (SVDUKF). Divided by yaw rate sensors and the tire models, two multistage estimators are established for DDASVs. Stable steering condition is simulated to investigate the influence on the estimated accuracy about the sensors and tire models. The velocities and tire forces are the key parameters to be estimated. The performance of each estimator regarding the practicability and accuracy is compared. The results show that all estimators are practicable. However, the accuracy of the estimated velocities based on yaw rate sensors is better and the transient tire model can improve the accuracy of estimated lateral forces more effectively for the estimator established with yaw rate sensors.

Four Wheel Steering System for Vehicle Handling Improvement: A Robust Model Reference Control Using the Sliding Mode

1996 ◽  
Vol 210 (4) ◽  
pp. 335-346 ◽  
Author(s):  
P I Ro ◽  
H Kim
Keyword(s):  
Sliding Mode Control ◽  
Sliding Mode ◽  
Direct Method ◽  
Steering System ◽  
Slip Angle ◽  
Model Reference ◽  
Vehicle Handling ◽  
Yaw Rate ◽  
Mode Control ◽  
Model Reference Control

In this paper a MIMO model reference control scheme incorporating the sliding mode control theory for a vehicle four wheel steering system is proposed and evaluated for a class of continuous-time non-linear dynamics with uncertainties. By the Lyapunov direct method, the algorithm is proven to be globally stable, with tracking errors converging to the neighbourhood of zero. The sliding mode four wheel steering (SM4WS) not only improves the directional stability and responsiveness but also provides good disturbance rejection for unexpected side wind. The SM4WS results in a faster vehicle response than conventional two wheel steering (2WS) without suspension and tyre modification. The linear three degree-of-freedom vehicle handling model is used to investigate vehicle handling performances. In simulation of the J-turn, the yaw rate overshoot reduction of a typical mid-size car improved by 30 per cent compared to a 2WS case. Although the lateral deviation of SM4WS is almost the same as that of 2WS the yaw rate reduction was approximately 20 per cent of that of a 2WS system. The simulation of the J-turn manoeuvre shows that the proposed scheme gives faster yaw rate response and smaller slide-slip angle than the 2WS case. When the rear tyre pressure is lower than normal, the car has less understeer and is worse in directional responsiveness, while SM4WS is insensitive to such parameter variations because of the robustness characteristics of the sliding mode control.

A Dynamic Tire Model for ABS Maneuver Simulations

2010 ◽  
Vol 38 (2) ◽  
pp. 137-154 ◽  
Author(s):  
Francesco Braghin ◽  
Edoardo Sabbioni
Keyword(s):  
Steady State ◽  
Order Differential Equation ◽  
Transient Behavior ◽  
Slip Angle ◽  
Tire Model ◽  
Relaxation Length ◽  
Steady State Condition ◽  
First Order ◽  
Significant Parameter ◽  
Tire Models

Abstract Due to the dimensions of the tire-road contact area, transients in a tire last approximately 0.1 s. Thus, in the case of abrupt maneuvers such as ABS braking, the use of a steady-state tire model to predict the vehicle’s behavior would lead to significant errors. Available dynamic tire models, such as Pacejka’s MF-Tire model, are based on steady-state formulations and the transient behavior of the tire is included by introducing a first order differential equation of relevant quantities such as the slip angle and the slippage. In these differential equations the most significant parameter used to describe the transient behavior is the so-called relaxation length, i.e., the distance traveled by the tire to settle to a new steady-state condition once perturbated. Usually this parameter is assumed to be constant.

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