Hierarchical Input-Output Decoupling Control for Vehicle Rollover Mitigation

2018 ◽  
Author(s):  
Fengchen Wang ◽  
Yan Chen
Keyword(s):  
Control Design ◽  
Decoupling Control ◽  
Planar Motion ◽  
Input Output ◽  
Level Control ◽  
Output Stability ◽  
Exponentially Stable ◽  
Vehicle Rollover ◽  
High Level ◽  
Yaw Moment

In this paper, a hierarchical input-output decoupling controller is proposed to simultaneously prevent vehicle rollover and keep the input-output stability of vehicle planar motion. A four-degree-of-freedom nonlinear vehicle dynamics model with four-wheel steering (4WS) and four in-wheel motors (4IWMs) is first developed. Then, in the high-level control design, the roll dynamics is decoupled from the planar motion using the general longitudinal and lateral forces. The decoupled roll dynamics is proved to perform as a linear system with an exponentially stable equilibrium. Moreover, the general yaw moment is also determined in the high-level control through the input-output stability analysis for tracking a yaw rate reference. In the low-level control design, the active 4WS control and direct yaw moment control are applied through a control allocation method to satisfy and distribute the virtual control obtained from the high-level control. Demonstrated by co-simulations integrating with CarSim® and MATLAB/Simulink®, the proposed hierarchical input-output decoupling control can successfully prevent the impending rollover and stabilize the vehicle planar motion.

Dynamics and Control of a Novel Active Yaw Stabilizer to Enhance Vehicle Lateral Motion Stability

2018 ◽  
Vol 140 (8) ◽  
Author(s):  
Fengchen Wang ◽  
Yan Chen
Keyword(s):  
Degrees Of Freedom ◽  
Hierarchical Control ◽  
Lateral Force ◽  
Stability Control ◽  
Level Control ◽  
Road Friction ◽  
Dynamics And Control ◽  
High Level ◽  
And Control ◽  
Yaw Moment

In this paper, a novel active yaw stabilizer (AYS) system is proposed for improving vehicle lateral stability control. The introduced AYS, inspired by the recent in-wheel motor (IWM) technology, has two degrees-of-freedom with independent self-rotating and orbiting movements. The dynamic model of the AYS is first developed. The capability of the AYS is then investigated to show its maximum generation of corrective lateral forces and yaw moments, given a limited vehicle space. Utilizing the high-level Lyapunov-based control design and the low-level control allocation design, a hierarchical control architecture is established to integrate the AYS control with active front steering (AFS) and direct yaw moment control (DYC). To demonstrate the advantages of the AYS, generating corrective lateral force and yaw moment without relying on tire–road interaction, double lane change maneuvers are studied on road with various tire–road friction coefficients. Co-simulation results, integrating CarSim® and MATLAB/Simulink®, successfully verify that the vehicle with the assistance of the AYS system has better lateral dynamics stabilizing performance, compared with cases in which only AFS or DYC is applied.

Stability Criteria for Distributed Nonlinear Sampled-Data Systems Defined by Green’s Functions

1974 ◽  
Vol 96 (3) ◽  
pp. 315-321 ◽  
Author(s):  
G. Jumarie
Keyword(s):  
Stability Criterion ◽  
Feedback Gain ◽  
Continuous Systems ◽  
Mean Square ◽  
Data Systems ◽  
Sampled Data ◽  
Input Output ◽  
Output Stability ◽  
Lumped Parameter ◽  
The Mean

Sampled-data, nonlinear, distributed systems, which exhibit a structure similar to that of the standard closed loop with lumped parameter, are investigated from the viewpoint of their input-output stability. These systems are governed by operational equations involving discrete Laplace-Green kernels. Their feedback gains are bounded by upper and lower values which depend explicitly on the time and the distributed parameter. The main result is: an input-output stability theorem is given which applies both in L∞ (O, ∞) and L2 (O, ∞). This criterion, which may be considered as being an extension of the ≪circle criterion≫, involves the mean square value on the bounds of the feedback gain. Stability conditions for continuous systems are derived from this result. In the special case of systems with distributed periodical time-varying feedback gains, a stability criterion is given which applies in Marcinkiewicz space M2 (O, ∞). This result which involves the mean square value of the feedback gain is generally less restrictive than the L2 (O, ∞) stability criterion mentioned above.

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.

scholarly journals Robust Tracking Controller for a DC/DC Buck-Boost Converter–Inverter–DC Motor System

Energies ◽  
2018 ◽  
Vol 11 (10) ◽  
pp. 2500 ◽  
Author(s):  
Eduardo Hernández-Márquez ◽  
Carlos Avila-Rea ◽  
José García-Sánchez ◽  
Ramón Silva-Ortigoza ◽  
Gilberto Silva-Ortigoza ◽  
...  
Keyword(s):  
Motor System ◽  
Dc Motor ◽  
Boost Converter ◽  
Differential Flatness ◽  
Robust Tracking ◽  
Level Control ◽  
Tracking Controller ◽  
The One ◽  
High Level ◽  
Better Than

This paper has two aims. The first is to develop a robust hierarchical tracking controller for the DC/DC Buck-Boost–inverter–DC motor system. This controller considers a high level control for the inverter–DC motor subsystems and a low level control for the DC/DC Buck-Boost converter subsystem. Such controls solve the tracking task associated with the angular velocity of the motor shaft and the output voltage of the converter, respectively, via the differential flatness approach. The second aim is to present a comparison of the robust hierarchical controller to a passive controller. This, with the purpose of showing that performance achieved with the hierarchical controller proposed in this paper, is better than the one achieved with the passive controller. Both controllers are experimentally implemented on a prototype of the DC/DC Buck-Boost–inverter–DC motor system by using Matlab-Simulink along with the DS1104 board from dSPACE. According to experimental results, the proposal in the present paper achieves a better performance than the passive controller.

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