Design of an integrated control system to enhance vehicle roll and lateral dynamics

2017 ◽  
Vol 40 (5) ◽  
pp. 1435-1446 ◽  
Author(s):  
Shahab Rahimi ◽  
Mahyar Naraghi
Keyword(s):  
Control System ◽  
Load Transfer ◽  
Integrated Control ◽  
Independent Study ◽  
Lateral Acceleration ◽  
Lateral Instability ◽  
Sideslip Angle ◽  
Roll Control ◽  
Coordination Strategy ◽  
Yaw Rate

Besides lateral instability, one major threat to all ground vehicles, especially SUVs, is the danger of rollover during cornering. A coordination strategy based on fuzzy logic has been devised to coordinate the sub-controls; namely, active steering, active differential, active brake and a novel active roll control system. Independent study of each sub-control as well as an analysis of their inter-relationship has been carried out. The coordination strategy is supposed to resolve the conflict among control targets – which are sideslip regulation, yaw rate tracking, lateral acceleration tracking and roll motion control – all of which are to be done while maintaining the driver’s desired longitudinal acceleration. Thus, a compromise must be reached. Vehicle sideslip angle and yaw rate were considered to be the criteria for lateral stability; and a combination of roll angle, roll rate and lateral load transfer was selected as the criterion for roll stability. The results of simulations on two SUV models in CarSim software indicate that the integrated controller can successfully restore vehicles’ stability in critical condition.

Automobile active tilt based on active suspension with H∞ robust control

2020 ◽  
pp. 095440702096620
Author(s):  
Jialing Yao ◽  
Meng Wang ◽  
Yanan Bai
Keyword(s):  
Robust Control ◽  
Degrees Of Freedom ◽  
Load Transfer ◽  
Ride Comfort ◽  
Simulation Analysis ◽  
Active Suspension ◽  
Roll Angle ◽  
Lateral Acceleration ◽  
Roll Moment ◽  
Roll Control

Automobile roll control aims to reduce or achieve a zero roll angle. However, the ability of this roll control to improve the handling stability of vehicles when turning is limited. This study proposes a direct tilt control methodology for automobiles based on active suspension. This tilt control leans the vehicle’s body toward the turning direction and therefore allows the roll moment generated by gravity to reduce or even offset the roll moment generated by the centrifugal force. This phenomenon will greatly improve the roll stability of the vehicle, as well as the ride comfort. A six-degrees-of-freedom vehicle dynamics model is established, and the desired tilt angle is determined through dynamic analysis. In addition, an H∞ robust controller that coordinates different performance demands to achieve the control objectives is designed. The occupant’s perceived lateral acceleration and the lateral load transfer ratio are used to evaluate and explain the main advantages of the proposed active tilt control. To account the difference between the proposed and traditional roll controls, a simulation analysis is performed to compare the proposed tilt H∞ robust control, a traditional H∞ robust control for zero roll angle, and a passive suspension system. The analysis of the time and frequency domains shows that the proposed controller greatly improves the handling stability and anti-rollover ability of vehicles during steering and maintains acceptable ride comfort.

System Identification and Lateral Dynamics of the Active Tilt-Controlled Electric Three Wheeler

2020 ◽  
Vol 142 (9) ◽  
Author(s):  
Jigneshsinh Sindha ◽  
Basab Chakraborty ◽  
Debashish Chakravarty
Keyword(s):  
Control System ◽  
System Identification ◽  
Load Transfer ◽  
Lateral Acceleration ◽  
Stable Operation ◽  
Technological Advancement ◽  
Track Width ◽  
Lateral Dynamics ◽  
Vehicle Trajectory ◽  
The Impact

Abstract Active tilt control system (ATC) is considered to be a prominent technological advancement in the three wheelers (3Ws), which improves the drive and comfort capabilities of 3W, leading to additional benefits of excellent maneuverability and small track width. An experimental prototype along with its simulation model is developed, to study the impact of the tilt actuation control system (TAS) and active steer (AS) system on the overall drive experience and stability improvement. A steering direct tilt control (SDTC) strategy is implemented on the vehicle, which allows stable operation of the system during the entire drive range. A transfer function (TF) of the TAS is estimated from the measurements on the prototype using the system identification tool. The derived TF is then utilized to investigate the response of the complete vehicle in terms of vehicle trajectory, perceived acceleration and load transfer across the rear wheels during the double lane change (DLC) and constant turn maneuvers. The results of the analysis indicate that the perceived acceleration felt by the driver is up to 45% less than the lateral acceleration along with up to 36% reduction in load transfer across the rear wheels.

Optimal Roll Control of a Single-Unit Lorry

1996 ◽  
Vol 210 (1) ◽  
pp. 45-55 ◽  
Author(s):  
R C Lin ◽  
D Cebon ◽  
D J Cole
Keyword(s):  
Single Unit ◽  
Load Transfer ◽  
Linear Quadratic Regulator ◽  
Lateral Acceleration ◽  
Hydraulic Actuator ◽  
Linear Quadratic ◽  
Mean Power ◽  
Worst Case ◽  
Limited Bandwidth ◽  
Roll Control

Lateral acceleration control and linear quadratic regulator (LQR) theory are used to design active roll control systems for heavy goods vehicles. The suspension consists of a limited bandwidth hydraulic actuator in series with an anti-roll bar. The procedure used to determine suitable controller gains is described. The simulation results show that roll control of a single-unit lorry requires an actuator bandwidth of 6 Hz and mean power of approximately 17 kW for a ‘worst case’ random steering input. The static roll-over threshold of this vehicle is increased by 66 per cent when compared with the same vehicle with passive suspensions and the r.m.s. lateral load transfer is reduced by 34 per cent for a typical random steering input.

Research on Stability Simulation for Four-Wheel Independent Steering Electric Vehicle

2012 ◽  
Vol 512-515 ◽  
pp. 2657-2661
Author(s):  
Zhi Jun Deng ◽  
Zhu Rong Dong
Keyword(s):  
Electric Vehicle ◽  
Feedforward Control ◽  
Dynamics Simulation ◽  
Lateral Acceleration ◽  
Vehicle Speed ◽  
Vehicle Model ◽  
Sideslip Angle ◽  
Yaw Rate ◽  
Tracking Ability ◽  
Approximate Zero

Handling dynamic model is established for the four-wheel independent steering electric vehicle (4WISEV) that has been developed by our research group. Handling dynamics simulation is conducted under Matlab environment with the parameters of the vehicle model, including the yaw rate, the lateral acceleration and the vehicle sideslip angle time domain and frequency domain characteristic simulation. Through analyzing the simulation results, it is indicated that, by adopting the feedforward control of the front steer angle and the feedback control of the yaw rate and vehicle speed which enable the vehicle sideslip angle to approximate zero, 4WISEV can effectively increase the handling stability of the vehicle and the tracking ability during steering process.

A Comparison of the Relative Benefits of Active Front Steering and Active Rear Steering When Coordinated With Direct Yaw Moment Control

2001 ◽  
Author(s):  
M. A. Selby ◽  
W. J. Manning ◽  
M. D. Brown ◽  
D. A. Crolla
Keyword(s):  
Load Transfer ◽  
Open Loop ◽  
Lateral Acceleration ◽  
Sideslip Angle ◽  
Direct Yaw Moment Control ◽  
Active Front Steering ◽  
Yaw Moment Control ◽  
Moment Control ◽  
The Stability ◽  
Yaw Moment

Abstract This paper studies the benefits of coordinating stability and steerability controllers to reduce vehicle deceleration during limit handling situations. The stability controller, DYC, uses the vehicle brakes to apply a restoring moment when the vehicle sideslip angle and sideslip velocity exceed fixed bounds. This use of the brakes interferes with the longitudinal dynamics of the vehicle in a way that drivers find undesirable. Active front steering (AFS) and active rear steering(ARS) can be used to tune the vehicle handling balance in the low to mid-range lateral-acceleration regime. Earlier work has shown that the use of AFS can reduce the interference observed using DYC alone. The levels of improvement achievable by coordinating AFS and ARS with DYC are quantified using open loop handling simulations tests by predicting the deceleration of the vehicle in an extreme manoeuvre. The results from these simulations are compared to assess the relative benefits of AFS and ARS when coordinated with DYC. The computer simulations are based on a four-degree of freedom vehicle model incorporating longitudinal, lateral, yaw, roll, and load transfer effects.

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.

A Torque Vectoring Control System for Maneuverability Improvement of 4WD EV

2013 ◽  
Vol 347-350 ◽  
pp. 899-903
Author(s):  
Yi He Gan ◽  
Lu Xiong ◽  
Yuan Feng ◽  
Felix Martinez
Keyword(s):  
Control System ◽  
Closed Loop ◽  
Lower Layer ◽  
Lateral Acceleration ◽  
Slip Angle ◽  
Torque Distribution ◽  
Handling Performance ◽  
Yaw Rate ◽  
Model Following ◽  
Torque Vectoring

This paper studies the improvement of the handling performance of 4WD EV driven by in-wheel motors under regular driving conditions. Fundamentally the structure of torque vectoring control (TVC) system for handling control consists of two control layers. The upper layer is a model following controller which makes the vehicle follow the desired yaw rate limited by the side slip angle and lateral acceleration. The torque distribution constitutes the lower layer. Several simulations based on veDYNA/Simulink are conducted to verify the effectiveness of the control system. It is clarified that the control system exhibits satisfactory performance in both open and closed loop maneuvers and the agility of the electric vehicle is improved.

Active roll control of an experimental articulated vehicle

2005 ◽  
Vol 219 (6) ◽  
pp. 791-806 ◽  
Author(s):  
A J P Miège ◽  
D Cebon
Keyword(s):  
Load Transfer ◽  
Lateral Acceleration ◽  
Heavy Vehicles ◽  
Roll Control ◽  
Articulated Vehicle ◽  
Acceleration Feedback ◽  
Experimental Vehicle ◽  
Computer Controlled ◽  
Drive Axle ◽  
Active Roll Control

A new experimental articulated vehicle with computer-controlled suspensions is used to investigate the benefits of active roll control for heavy vehicles. The mechanical hardware, the instrumentation, and the distributed control architecture are detailed. A simple roll-plane model is developed and validated against experimental data, and used to design a controller based on lateral acceleration feedback. The controller is implemented and tested on the experimental vehicle. By tilting both the tractor drive axle and the trailer inwards, substantial reductions in normalized lateral load transfer are obtained, both in steady state and transient conditions. Power requirements are also considered.

scholarly journals Stable trajectory planning and energy-efficience control allocation of lane change maneuver for autonomous electric vehicle

2018 ◽  
Vol 1 (2) ◽  
pp. 55-65
Author(s):  
Liwei Xu ◽  
Guodong Yin ◽  
Guangmin Li ◽  
Athar Hanif ◽  
Chentong Bian
Keyword(s):  
Control System ◽  
Energy Consumption ◽  
Electric Vehicles ◽  
Lateral Acceleration ◽  
Lane Change ◽  
Stability Boundaries ◽  
Content Type ◽  
Yaw Rate ◽  
Stable Trajectory ◽  
Autonomous Electric Vehicles

Purpose The purpose of this paper is to investigate problems in performing stable lane changes and to find a solution to reduce energy consumption of autonomous electric vehicles. Design/methodology/approach An optimization algorithm, model predictive control (MPC) and Karush–Kuhn–Tucker (KKT) conditions are adopted to resolve the problems of obtaining optimal lane time, tracking dynamic reference and energy-efficient allocation. In this paper, the dynamic constraints of vehicles during lane change are first established based on the longitudinal and lateral force coupling characteristics and the nominal reference trajectory. Then, by optimizing the lane change time, the yaw rate and lateral acceleration that connect with the lane change time are limed. Furthermore, to assure the dynamic properties of autonomous vehicles, the real system inputs under the restraints are obtained by using the MPC method. Based on the gained inputs and the efficient map of brushless direct-current in-wheel motors (BLDC IWMs), the nonlinear cost function which combines vehicle dynamic and energy consumption is given and the KKT-based method is adopted. Findings The effectiveness of the proposed control system is verified by numerical simulations. Consequently, the proposed control system can successfully achieve stable trajectory planning, which means that the yaw rate and longitudinal and lateral acceleration of vehicle are within stability boundaries, which accomplishes accurate tracking control and decreases obvious energy consumption. Originality/value This paper proposes a solution to simultaneously satisfy stable lane change maneuvering and reduction of energy consumption for autonomous electric vehicles. Different from previous path planning researches in which only the geometric constraints are involved, this paper considers vehicle dynamics, and stability boundaries are established in path planning to ensure the feasibility of the generated reference path.

scholarly journals Improving the directional stability of a traction control system without additional sensors

2002 ◽  
Vol 216 (8) ◽  
pp. 641-648 ◽  
Author(s):  
H Jung ◽  
B Kwak ◽  
Y Park
Keyword(s):  
Control System ◽  
Degrees Of Freedom ◽  
Lateral Acceleration ◽  
Slip Ratio ◽  
Traction Control ◽  
Additional Information ◽  
Yaw Rate ◽  
Traction Control System ◽  
Directional Stability ◽  
Acceleration Sensors

The traction control system (TCS) comprises a slip control subsystem and a directional stability subsystem. The slip controller can enhance the traction performance by maintaining the slip ratio within an appropriate range. Additional information about the lateral behaviour of the vehicle is necessary to enhance the directional stability during cornering or lane change on slippery roads. With an assumption of slowly varying steering input, a new method to measure the mixture of yaw rate and lateral acceleration, using the speed difference of non-driven wheels, is proposed. Using this measurement, the controller imposes independent pressure to each driven wheel and improves the stability during cornering on slippery roads or acceleration on split-μ roads without additional sensors such as yaw rate and lateral acceleration sensors. The proposed method is verified through simulation based on a 15-degrees-of-freedom (15 DOF) passenger car model.

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