Vehicle Lateral Motion Control Based on Estimated Stability Regions

2017 ◽  
Author(s):  
Yiwen Huang ◽  
Yan Chen
Keyword(s):  
Measurement Errors ◽  
Local Stability ◽  
Stability Region ◽  
Control Method ◽  
Linearization Method ◽  
Stability Control ◽  
Lateral Stability ◽  
Shortest Distance ◽  
The Stability ◽  
Yaw Moment

This paper presents a novel vehicle lateral stability control method based on an estimated lateral stability region on the phase plane of vehicle yaw rate and lateral speed, which is obtained through a local linearization method. Since the estimated stability region does not only describe vehicle local stability, but also define the oversteering and understeering characteristics, the proposed control method can achieve both local stability and vehicle handling stability. Considering the irregular geometric shape of the estimated stability region, a stability analysis algorithm is designed to determine the distance between vehicle states and stability region boundaries. State estimation or measurement errors are also incorporated in the distance calculation. Based on the calculated shortest distance between vehicle states and stability boundaries, a direct yaw moment controller is designed to maintain vehicle states stay within the stability region. CarSim® and Simulink® co-simulation is applied to verify the control design through a cornering maneuver. The simulation results show that the proposed control method can make the vehicle stay within the stability region successfully and thus always operate in a safe manner.

scholarly journals A Robust Control Method for Lateral Stability Control of In-Wheel Motored Electric Vehicle Based on Sideslip Angle Observer

2018 ◽  
Vol 2018 ◽  
pp. 1-11 ◽  
Author(s):  
Yaxiong Wang ◽  
Feng Kang ◽  
Taipeng Wang ◽  
Hongbin Ren
Keyword(s):  
Robust Control ◽  
Electric Vehicles ◽  
Control Algorithm ◽  
Control Method ◽  
Stability Control ◽  
Lateral Stability ◽  
Level Control ◽  
Sideslip Angle ◽  
Safety Control ◽  
Yaw Moment

In-wheel motored powertrain on electric vehicles has more potential in maneuverability and active safety control. This paper investigates the longitudinal and lateral integrated control through the active front steering and yaw moment control systems considering the saturation characteristics of tire forces. To obtain the vehicle sideslip angle of mass center, the virtual lateral tire force sensors are designed based on the unscented Kalman filtering (UKF). And the sideslip angle is estimated by using the dynamics-based approaches. Moreover, based on the estimated vehicle state information, an upper level control system by using robust control theory is proposed to specify a desired yaw moment and correction front steering angle to work on the electric vehicles. The robustness of proposed algorithm is also analyzed. The wheel torques are distributed optimally by the wheel torque distribution control algorithm. Numerical simulation is carried out in Matlab/Simulink-Carsim cosimulation environment to demonstrate the effectiveness of the designed robust control algorithm for lateral stability control of in-wheel motored vehicle.

scholarly journals Fractional Calculus Control of Road Vehicle Lateral Stability after a Tire Blowout

Mechanika ◽  
2021 ◽  
Vol 27 (6) ◽  
pp. 475-482
Author(s):  
Bing lin LI ◽  
Li ZENG
Keyword(s):  
Fractional Calculus ◽  
Traffic Accidents ◽  
Control Method ◽  
Reference Value ◽  
Stability Control ◽  
Degree Of Freedom ◽  
Lateral Stability ◽  
Vehicle Performance ◽  
Nonlinear Control Method ◽  
Yaw Moment

The lateral stability control of the vehicle can avoid serious traffic accidents when it had a tire blowout during the operation. This article proposes a robust nonlinear control method for controlling vehicle lateral stability after a tire blowout. To be exact, a seven degree of freedom dynamic model of vehicle with modified Dugoff tire model is established. The yaw moment of vehicle is performed by differential braking once the tire blowout occurring. As for control strategy, taking the linear two degree of freedom vehicle model as the reference, using the deviation of yaw rate and the vehicle side angle between the actual value and the reference value as the controller input parameters, the fractional calculus theory is utilized for yaw moment controller which was investigated by regulating the brake moment of blowout vehicle for improving its stability. The results of computer simulation show that the design controller of fractional PID can more effectively enhance the blowout vehicle performance stability compared with the vehicle with the non control, PID control, no matter in straight road or curve road.

Constrained stability control with optimal power management strategy for in-wheel electric vehicles

2019 ◽  
Vol 233 (4) ◽  
pp. 1014-1032
Author(s):  
Behrouz Najjari ◽  
Mehdi Mirzaei ◽  
Amin Tahouni
Keyword(s):  
Electric Vehicles ◽  
Degrees Of Freedom ◽  
Control Method ◽  
High Energy ◽  
Stability Control ◽  
Slip Angle ◽  
Constrained Control ◽  
Directional Stability ◽  
The Stability ◽  
Yaw Moment

This paper looks into the energy management and directional stability of four-in-wheel driven electric vehicles, simultaneously. In the proposed strategy, the optimal driving torques are initially distributed between the wheels by considering the condition for minimum losses of motors using the motor efficiency model. In risky maneuvers, a novel optimal torque vectoring system is developed to intentionally change the initial optimal torques for the generation of required stabilizing yaw moment. For designing the stability controller, a new constrained control method is analytically developed based on the prediction of continuous nonlinear vehicle models. The proposed control method restricts the side-slip angle to guarantee the stability. Also, the required control torque for each motor is restricted within the admissible range according to the motor map. As another result of the constrained strategy, a small change in the optimal energy consumption is occurred for improved stability because of using minimum external yaw moment. In simulation studies, a good performance of the developed control system to provide both directional stability and drivability of electric vehicle with high energy efficiency is presented at different driving conditions using 14-degrees-of-freedom vehicle model. A comparative study with the conventional model predictive control method indicates the speed of the proposed constrained control method and the ease of its solution and implementation.

The Stability Control of Individual Drive Electric Vehicle Based on Torque Distribution

2010 ◽  
Vol 29-32 ◽  
pp. 1991-1996
Author(s):  
Ju Wei Li ◽  
Xiao Lin Cui
Keyword(s):  
Control Method ◽  
Stability Control ◽  
Torque Distribution ◽  
Handling Performance ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Simulation Results ◽  
The Stability ◽  
Yaw Moment

A direct yaw moment control (DYC) method based on optimal predictive method is proposed to achieve an external yaw moment which is as low as possible. This control method calculates the necessary moment according the vehicle condition, and then optimizes the distribution of drive/brake torque to achieve the necessary yaw moment considering the constraints of actuators. The effectiveness of the designed controller is investigated by simulations. The simulation results indicate that a satisfactory handling performance can be achieved when the proposed controller is applied.

scholarly journals Stability Control for Electric Vehicles with Four In-Wheel-Motors Based on Sideslip Angle

2021 ◽  
Vol 12 (1) ◽  
pp. 42
Author(s):  
Kun Yang ◽  
Danxiu Dong ◽  
Chao Ma ◽  
Zhaoxian Tian ◽  
Yile Chang ◽  
...  
Keyword(s):  
Electric Vehicles ◽  
Control Method ◽  
Sliding Mode ◽  
Stability Control ◽  
Torque Control ◽  
Wheel Load ◽  
Sideslip Angle ◽  
Distribution Method ◽  
Load Rate ◽  
The Stability

Tire longitudinal forces of electrics vehicle with four in-wheel-motors can be adjusted independently. This provides advantages for its stability control. In this paper, an electric vehicle with four in-wheel-motors is taken as the research object. Considering key factors such as vehicle velocity and road adhesion coefficient, the criterion of vehicle stability is studied, based on phase plane of sideslip angle and sideslip-angle rate. To solve the problem that the sideslip angle of vehicles is difficult to measure, an algorithm for estimating the sideslip angle based on extended Kalman filter is designed. The control method for vehicle yaw moment based on sliding-mode control and the distribution method for wheel driving/braking torque are proposed. The distribution method takes the minimum sum of the square for wheel load rate as the optimization objective. Based on Matlab/Simulink and Carsim, a cosimulation model for the stability control of electric vehicles with four in-wheel-motors is built. The accuracy of the proposed stability criterion, the algorithm for estimating the sideslip angle and the wheel torque control method are verified. The relevant research can provide some reference for the development of the stability control for electric vehicles with four in-wheel-motors.

Design and Implementation of Large-Scale Temperature Stability Control System

2014 ◽  
Vol 644-650 ◽  
pp. 313-316
Author(s):  
Wen Lai Liu
Keyword(s):  
Control System ◽  
System Design ◽  
Large Scale ◽  
Control Method ◽  
Temperature Stability ◽  
Stability Control ◽  
Control System Design ◽  
Scale Temperature ◽  
Stability Control System ◽  
The Stability

large-scale temperature stability control method is studied in this paper. In the process of large-scale temperature control, the stability of control is a very important indicator. To this end, this paper proposes a large-scale temperature stability control algorithm based on hierarchical control method. Balance equation of large-scale temperature stability control is created for the effective transmission of control data. According to the constant control theory, large-scale temperature stability control system design is achieved. Experimental results show that the proposed algorithm for large-scale temperature stability control system design, can greatly improve the stability of control, and get the satisfactory results.

Stability Regions of Vehicle Lateral Dynamics: Estimation and Analysis

2020 ◽  
Vol 143 (5) ◽  
Author(s):  
Yiwen Huang ◽  
Wei Liang ◽  
Yan Chen
Keyword(s):  
Load Transfer ◽  
Equilibrium Points ◽  
Longitudinal Velocity ◽  
Linearization Method ◽  
Stability Control ◽  
Stable Operation ◽  
Lateral Stability ◽  
Ground Vehicles ◽  
Stability Regions ◽  
Road Friction

Abstract A new method is proposed to estimate and analyze the vehicle lateral stability region, which provides a direct and intuitive demonstration for the safety and stability control of ground vehicles. Based on a four-wheel vehicle model and a nonlinear two-dimensional (2D) analytical LuGre tire model, a local linearization method is applied to estimate the vehicle lateral stability regions by analyzing the vehicle stability at each operation point on a phase plane, which includes but not limited to the equilibrium points. As the collections of all the locally stable operation points, the estimated stability regions are conservative because both vehicle and tire stability are simultaneously considered, which are especially important for characterizing the stability features of highly/fully automated ground vehicles (AGV). The obtained lateral stability regions can be well explained by the vehicle characteristics of oversteering and understeering in the context of vehicle handling stability. The impacts of vehicle lateral load transfer, longitudinal velocity, tire-road friction coefficient, and steering angle on the estimated stability regions are presented and discussed. To validate the correctness of the estimated stability regions, a case study by matlab/simulink and CarSim® co-simulation is presented and discussed.

Path tracking framework synthesizing robust model predictive control and stability control for autonomous vehicle

2020 ◽  
Vol 234 (9) ◽  
pp. 2330-2341
Author(s):  
Jiaxing Yu ◽  
Xiaofei Pei ◽  
Xuexun Guo ◽  
JianGuo Lin ◽  
Maolin Zhu
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Stability Control ◽  
Robust Model Predictive Control ◽  
Direct Yaw Moment Control ◽  
Robust Model ◽  
Yaw Moment Control ◽  
Moment Control ◽  
The Stability ◽  
Yaw Moment

This paper proposes a framework for path tracking under additive disturbance when a vehicle travels at high speed or on low-friction road. A decoupling control strategy is adopted, which is made up of robust model predictive control and the stability control combining preview G-vectoring control and direct yaw moment control. A vehicle-road model is adopted for robust model predictive control, and a robust positively invariant set calculated online ensures state constraints in the presence of disturbances. Preview G-vectoring control in stability control generates deceleration and acceleration based on lateral jerk, later acceleration, and curvature at preview point when a vehicle travels through a cornering. Direct yaw moment control with additional activating conditions provides an external yaw moment to stabilize lateral motion and enhances tracking performance. A comparative analysis of stability performance of stability control is presented in simulations, and furthermore, many disturbances are considered, such as varying wind, road friction, and bounded state disturbances from motion planning and decision making. Simulation results show that the stability control combining preview G-vectoring control and direct yaw moment control with additional activating conditions not only guarantees lateral stability but also improves tracking performance, and robust model predictive control endows the overall control system with robustness.

scholarly journals Flight Dynamics and Development of the Stability Control Method of the Aero-Train. 1st Report. Flight Test by Pushing.

2002 ◽  
Vol 68 (665) ◽  
pp. 102-107 ◽  
Author(s):  
Yasuaki KOHAMA ◽  
Hideo WATANABE ◽  
Satoshi KIKUCHI ◽  
Fukuo OHTA ◽  
Takayuki ITOH
Keyword(s):  
Control Method ◽  
Flight Dynamics ◽  
Flight Test ◽  
Stability Control ◽  
The Stability

Stability Control and Simulation of Wheel-Legged Mobile Robot in Mechanical Engineering

2013 ◽  
Vol 644 ◽  
pp. 123-128
Author(s):  
Ling Yu Sun ◽  
Jian Hua Zhang ◽  
Xiao Jun Zhang
Keyword(s):  
Mobile Robot ◽  
Pid Control ◽  
Control Method ◽  
Three Dimensional ◽  
Stability Domain ◽  
Stability Control ◽  
Terrestrial Environment ◽  
The Stability ◽  
Adaptive Pid Control ◽  
Fuzzy Adaptive

The wheel-legged mobile robot in a complex three-dimensional environment has strong through capacity .Study is very critical for the stability of the control of their body systems. In this paper , based on analysis of the structure of wheel-legged mobile robot designed, the stability is evaluated by the use of (Effective Mass Center) EMC , and the stability domain is established accordingly. A fuzzy adaptive PID control method is created , and verified by ADAMS and MATLAB co-simulation . Simulation results show that the robot in different terrestrial environment, can maintain good stability.

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