Vehicle handling and stability control by the cooperative control of 4WS and DYC

2017 ◽  
Vol 31 (19-21) ◽  
pp. 1740090 ◽  
Author(s):  
Huan Shen ◽  
Yun-Sheng Tan
Keyword(s):  
Control System ◽  
Cooperative Control ◽  
Sliding Mode ◽  
Integrated Control ◽  
Longitudinal Velocity ◽  
Stability Control ◽  
Sideslip Angle ◽  
Vehicle Handling ◽  
Braking Torque ◽  
Yaw Moment

This paper proposes an integrated control system that cooperates with the four-wheel steering (4WS) and direct yaw moment control (DYC) to improve the vehicle handling and stability. The design works of the four-wheel steering and DYC control are based on sliding mode control. The integration control system produces the suitable 4WS angle and corrective yaw moment so that the vehicle tracks the desired yaw rate and sideslip angle. Considering the change of the vehicle longitudinal velocity that means the comfort of driving conditions, both the driving torque and braking torque are used to generate the corrective yaw moment. Simulation results show the effectiveness of the proposed control algorithm.

Vehicle Direct Yaw Moment Control with Longitudinal Forces Distribution

2014 ◽  
Vol 709 ◽  
pp. 331-334
Author(s):  
Man Hong Huang ◽  
Huan Shen ◽  
Yun Sheng Tan
Keyword(s):  
Control System ◽  
Reference Model ◽  
Sliding Mode ◽  
Stability Control ◽  
Yaw Rate ◽  
Vehicle Stability Control ◽  
Braking Torque ◽  
Stability Control System ◽  
Yaw Moment Control ◽  
Yaw Moment

In this paper, a vehicle stability control system is proposed to improve vehicle comfort, handling and stability. The control system includes reference model, DYC controller and Distributer. Reference model is used to obtain the desired yaw rate. DYC controller determines the desired yaw moment by means of sliding-mode technique. Distributer, based on maneuverability and comfort, distributes driving torque or braking torque according to the desired yaw rate. Simulation result shows that the proposed control algorithm can improve vehicle handling and stability effectively.

Research on Vehicle Stability Based on DYC and AFS Integrated Controller

2013 ◽  
Vol 278-280 ◽  
pp. 1510-1515 ◽  
Author(s):  
Jie Tian ◽  
Ya Qin Wang ◽  
Ning Chen
Keyword(s):  
Control Method ◽  
Sliding Mode ◽  
Stability Control ◽  
Front Wheel ◽  
Vehicle Stability ◽  
Sideslip Angle ◽  
Stable Domain ◽  
Vehicle Stability Control ◽  
Integrated Controller ◽  
Yaw Moment

A new vehicle stability control method integrated direct yaw moment control (DYC) with active front wheel steering (AFS) was proposed. On the basis of the vehicle nonlinear model, vehicle stable domain was determined by the phase plane of sideslip angle and sideslip angular velocity. When the vehicle was outside the stable domain, DYC was firstly used to produce direct yaw moment, which can make vehicle inside the stable domain. Then AFS sliding mode control was used to make the sideslip angle and yaw rate track the reference vehicle model. The simulation results show that the integrated controller improves vehicle stability more effectively than using the AFS controller alone.

scholarly journals A Review of Active Yaw Control System for Vehicle Handling and Stability Enhancement

2014 ◽  
Vol 2014 ◽  
pp. 1-15 ◽  
Author(s):  
M. K. Aripin ◽  
Yahaya Md Sam ◽  
Kumeresan A. Danapalasingam ◽  
Kemao Peng ◽  
N. Hamzah ◽  
...  
Keyword(s):  
Control System ◽  
Tracking Control ◽  
Dynamic Models ◽  
Sliding Mode ◽  
Stability Control ◽  
Composite Nonlinear Feedback ◽  
Vehicle Handling ◽  
Yaw Rate ◽  
Yaw Stability ◽  
Stability Control System

Yaw stability control system plays a significant role in vehicle lateral dynamics in order to improve the vehicle handling and stability performances. However, not many researches have been focused on the transient performances improvement of vehicle yaw rate and sideslip tracking control. This paper reviews the vital elements for control system design of an active yaw stability control system; the vehicle dynamic models, control objectives, active chassis control, and control strategies with the focus on identifying suitable criteria for improved transient performances. Each element is discussed and compared in terms of their underlying theory, strengths, weaknesses, and applicability. Based on this, we conclude that the sliding mode control with nonlinear sliding surface based on composite nonlinear feedback is a potential control strategy for improving the transient performances of yaw rate and sideslip tracking control.

Design and Simulation of a Stability Control System for 4 Independent Wheel Drive Electric Vehicle

2016 ◽  
Author(s):  
Juan S. Núñez ◽  
Luis E. Muñoz
Keyword(s):  
Control System ◽  
Electric Vehicle ◽  
Sliding Mode ◽  
Stability Control ◽  
Performance Comparison ◽  
Phase Portraits ◽  
Vehicle Model ◽  
Stability Control System ◽  
The Stability ◽  
Yaw Moment

With the aim of prevent situations of vehicle instability against different driving maneuvers, the vehicle yaw stability becomes crucial for safe operation. This paper presents the design and simulation of a traction and a stability control system algorithms for independent four-wheel-driven electric vehicle. The stability control system consists of a multilevel algorithm divided into a high level controller and a low level controller. First, an analysis of the stability of the vehicle is performed using phase portraits analysis, both in open loop and closed loop. The stability control system is designed to generate a desired yaw moment according to the steady state cornering relationship with the steering angle input. As the test vehicle, a 14 DoF vehicle model is proposed including nonlinear tire models that allow the generation of combined forces. The vehicle model includes the powertrain dynamics. The yaw moment generation is performed using the traction and braking forces between the tires of each side of both front and rear axle. In order to generate the maximum traction forces in each of the wheels, a traction and a braking control is developed via a sliding mode controller scheme. Finally a performance comparison between a controlled and an uncontrolled vehicle is presented. The behavior of both vehicles is simulated using a classical double lane change driving maneuver.

scholarly journals Sliding Mode Integrated Control for Vehicle Systems Based on AFS and DYC

2020 ◽  
Vol 2020 ◽  
pp. 1-8
Author(s):  
Chao Lu ◽  
Jing Yuan ◽  
Genlong Zha
Keyword(s):  
Sliding Mode ◽  
Integrated Control ◽  
Sideslip Angle ◽  
Yaw Rate ◽  
Direct Yaw Moment Control ◽  
Vehicle Systems ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Two Degree Of Freedom ◽  
Yaw Moment

This paper has investigated an integrated control of active front steering (AFS) and direct yaw-moment control (DYC) for vehicle systems. First of all, the desired yaw rate and sideslip angle are estimated by using a two-degree-of-freedom (2-DOF) model of the vehicle system. On this basis, the actual sideslip angle is estimated by means of an observer. Then, the sliding mode control (SMC) is developed for AFS and DYC, respectively, to guarantee that the actual yaw rate and the sideslip angle track their reference signals. Additionally, the disturbance observer (DOB) technique is introduced to further improve the control performance. Finally, the simulation results validate the superiority of the AFS and DYC integrated control by using CarSim software during the following conditions: double lane change and side wind disturbance.

scholarly journals Research on Steering Stability Control Strategy of Four-wheel Independent Electric Drive Special Vehicles

2021 ◽  
Vol 248 ◽  
pp. 02041
Author(s):  
Liao Zili ◽  
Shu Xin ◽  
Cai Lichun ◽  
Zhang Linyun
Keyword(s):  
Driving Force ◽  
Sliding Mode ◽  
Stability Control ◽  
Utilization Rate ◽  
Force Distribution ◽  
Sideslip Angle ◽  
Distribution Method ◽  
Yaw Rate ◽  
Optimization Function ◽  
Yaw Moment

In order to solve the steering stability problem of a special four-wheel independent electric vehicle, a dynamic model of the vehicle was established to analyze the cause of vehicle instability. A steering stability controller was designed, which included the upper yaw moment controller and the lower driving force distribution controller. Based on the sliding mode control algorithm, the yaw moment controller determines the yaw moment required while the vehicle is moving by controlling the yaw rate and sideslip angle. Based on the safety distribution method, the driving force distribution controller selects the sum of tire utilization rate as the optimization function to realize the optimal distribution of yaw moment. Software of MATLAB/Simulink and CarSim were used to build a co-simulation platform, and the designed steering stability controller was analyzed and verified. The simulation results show that the steering stability controller is helpful to improve the steering ability and handling stability of the vehicle in the extreme working conditions.

scholarly journals Actuator fault-based integrated control for vehicle chassis system

2020 ◽  
pp. 002029402097757
Author(s):  
Jinwei Sun ◽  
Jingyu Cong ◽  
Weihua Zhao ◽  
Yonghui Zhang
Keyword(s):  
Performance Enhancement ◽  
Fault Tolerant ◽  
Sliding Mode ◽  
Integrated Control ◽  
Stability Control ◽  
Actuator Fault ◽  
Roll Moment ◽  
Fault Reconstruction ◽  
Driving Conditions ◽  
Vehicle Chassis

An integrated fault tolerant controller is proposed for vehicle chassis system. Based on the coupled characteristics of vertical and lateral system, the fault tolerant controller mainly concentrates on the cooperative control of controllable suspension and lateral system with external disturbances and actuator faults. A nine-DOF coupled model is developed for fault reconstruction and accurate control. Firstly, a fault reconstruction mechanism based on sliding mode is introduced; when the sliding mode achieves, actuator fault signals can be observed exactly through selecting appropriate gain matrix and equivalent output injection term. Secondly, an active suspension controller, a roll moment controller and a stability controller is developed respectively; the integrated control strategy is applied to the system under different driving conditions: when the car is traveling straightly, the main purpose of the integrated strategy is to improve the vertical performance; the lateral controller including roll moment control and stability control will be triggered when there is a steering angle input. Simulations experiments verify the performance enhancement and stability of the proposed controller under three different driving conditions.

Multi-layer controller with state-constraint: Vehicle lateral stability control based on fuzzy logic

2021 ◽  
pp. 095440702110142
Author(s):  
Neng Wan ◽  
Guangping Zeng ◽  
Chunguang Zhang ◽  
Dingqi Pan ◽  
Songtao Cai
Keyword(s):  
Control System ◽  
Integrated Control ◽  
State Constraint ◽  
Stability Control ◽  
Lateral Stability ◽  
System A ◽  
Velocity Reduction ◽  
Vehicle Velocity ◽  
Allowable Range ◽  
Simulation Results

This paper deals with a new state-constrained control (SCC) system of vehicle, which includes a multi-layer controller, in order to ensure the vehicle’s lateral stability and steering performance under complex environment. In this system, a new constraint control strategy with input and state constraints is applied to calculate the steady-state yaw moment. It ensures the vehicle lateral stability by tracking the desired yaw rate value and limiting the allowable range of the side slip. Through the linkage of the three-layer controller, the tire load is optimized and achieve minimal vehicle velocity reduction. The seven-degree-of-freedom (7-DOF) simulation model was established and simulated in MATLAB to evaluate the effect of the proposed controller. Through the analysis of the simulation results, compared with the traditional ESC and integrated control, it not only solves the problem of obvious velocity reduction, but also solves the problem of high cost and high hardware requirements in integrated control. The simulation results show that designed control system has better performance of path tracking and driving state, which is closer to the desired value. Through hardware-in-the-loop (HIL) practical experiments in two typical driving conditions, the effectiveness of the above proposed control system is further verified, which can improve the lateral stability and maneuverability of the vehicle.

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.

scholarly journals Vehicle Sideslip Angle Estimation Using Two Single-Antenna GPS Receivers

2010 ◽  
Author(s):  
Jong-Hwa Yoon ◽  
Huei Peng
Keyword(s):  
Low Cost ◽  
Longitudinal Velocity ◽  
Stability Control ◽  
Estimation Accuracy ◽  
Measurement Unit ◽  
Sideslip Angle ◽  
Gps Receivers ◽  
Single Antenna ◽  
Active Safety Systems ◽  
Safety Systems

Knowing vehicle sideslip angle accurately is critical for active safety systems such as Electronic Stability Control (ESC). Vehicle sideslip angle can be measured through optical speed sensors, or dual-antenna GPS. These measurement systems are costly (∼$5k to $100k), which prohibits wide adoption of such systems. This paper demonstrates that the vehicle sideslip angle can be estimated in real-time by using two low-cost single-antenna GPS receivers. Fast sampled signals from an Inertial Measurement Unit (IMU) compensate for the slow update rate of the GPS receivers through an Extended Kalman Filter (EKF). Bias errors of the IMU measurements are estimated through an EKF to improve the sideslip estimation accuracy. A key challenge of the proposed method lies in the synchronization of the two GPS receivers, which is achieved through an extrapolated update method. Analysis reveals that the estimation accuracy of the proposed method relies mainly on vehicle yaw rate and longitudinal velocity. Experimental results confirm the feasibility of the proposed method.

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