Contribution of chassis key subsystems to rollover stability control

2011 ◽  
Vol 226 (4) ◽  
pp. 479-493 ◽  
Author(s):  
S-B Lu ◽  
Y-N Li ◽  
S-B Choi
Keyword(s):  
Control Strategy ◽  
Integrated Control ◽  
Stability Control ◽  
Slip Angle ◽  
Tyre Model ◽  
Rollover Prevention ◽  
Control Scheme ◽  
Control Authority ◽  
Rollover Stability ◽  
Working Region

The current paper presents an integrated control strategy to improve rollover stability of a vehicle by considering chassis key subsystems. In order to achieve this goal, a quantitative study on control authority and the effective working region of active front steering (AFS), active braking (AB), and active suspension (AS) control for rollover prevention is carried out based on a full vehicle model which includes the non-linear tyre model and the effect of dynamic coupling. After investigating the control authority and effective working area of AFS, AB, and AS subsystems, an integrated control strategy for rollover stability is formulated. In this formulating process, the control strategy for each subsystem is also designed by considering its contribution to rollover stability. A comparison between the proposed integrated control strategy and the single control action of each subsystem is made through computer simulation. It is demonstrated that both anti-rollover ability and lateral stability are greatly improved by implementing the proposed integrated control scheme. Specifically, the peak of roll angle and the root mean square (RMS) of side slip angle with integrated control are reduced by 38.9 per cent and 47.1 per cent, respectively, relative to those of the passive system.

Stochastic Robust Hybrid Observer With Applications to Automotive Slip Angle Estimation

2014 ◽  
Author(s):  
Kaveh Merat ◽  
Hamidreza Razavi ◽  
Hassan Salarieh ◽  
Aria Alasty ◽  
Ali Meghdari
Keyword(s):  
Nonlinear Dynamic System ◽  
Stability Control ◽  
Observer Design ◽  
Slip Angle ◽  
Linear Matrix ◽  
Rollover Prevention ◽  
Yaw Stability ◽  
Noise Measurements ◽  
And Performance ◽  
System Deviation

In this article, the state estimation for Automotive Slip Angle considering the measurement noise in sensor is addressed. Real-time measurement of the slip angle is applicable to many active vehicle safety applications, such as rollover prevention and yaw stability control. As the sensors that measure slip angle directly are expensive, the method to extract slip angle from other available sensors in vehicle is considered. First from the simplified nonlinear dynamic system of vehicle, a Piecewise Affine (PWA) model with calculated uncertainties is obtained. The uncertainties are the result of nonlinear system deviation from PWA model. Then using the PWA model, a Stochastic Robust Hybrid Observer design is developed to estimate the slip angle. Design of the Observer is based on Linear Matrix Inequalities which gives bound on the estimation variance based on the sensor noise measurements. Finally, through simulation, the effectiveness and performance of this method is investigated.

Tractor-Semitrailer Stability Integrated Control Based on TruckSim-Simulink Co-Simulation

2014 ◽  
Vol 945-949 ◽  
pp. 1539-1542
Author(s):  
Chao Yi Wei ◽  
Zhi Yu Long ◽  
Lei Xie ◽  
Min Yan Xie
Keyword(s):  
Control System ◽  
Simulation Model ◽  
Control Strategy ◽  
Integrated Control ◽  
Loss Of Control ◽  
Matlab Simulink ◽  
Control Scheme ◽  
Driving Stability

A nonlinear tractor-semitrailer simulation model is established based on TruckSim. The control system which is designed in Matlab-Simulink contains roll, yaw folding and ABS integrated control strategy. A TruckSim-Simulink co-simulation model is constructed, and is based on which, tractor-semitrailer stability integrated control is simulation tested by a fishhook condition. The results reveal that the control system is effective. The proposed control scheme can significantly reduce the accidents of roll, jackknifing and yaw loss of control of a tractor semi-trailer, improving the vehicle driving stability.

Simulation Study of Vehicle Brake Stability Control on Turning Lane Based on ABS

2012 ◽  
Vol 591-593 ◽  
pp. 1916-1919
Author(s):  
Tao Yang ◽  
Dan Dan Song
Keyword(s):  
Integrated Control ◽  
Slip Rate ◽  
Stability Control ◽  
Slip Angle ◽  
Lateral Instability ◽  
Dynamic Regulation ◽  
Sinusoidal Input ◽  
Yaw Stability ◽  
Yaw Moment Control ◽  
Yaw Moment

Vehicle under braking in turn condition can easily cause lateral instability because of the centrifugal force. In this paper, the defects of ABS control methods of the vehicle under braking in turn condition were analyzed, a braking force control strategy by the integrated control of ABS and yaw moment control for vehicle cornering is presented. Based on ABS, a yaw moment controller using fuzzy control theory is designed, by controlling yaw moment of vehicle and regulating slip rate of wheels, the dynamic regulation of yaw moment in vehicle braking is realized, therefore, vehicle braking stability on turning lane is improved. A simulation is performed with it during two different conditions: step input and sinusoidal input, the results showed that the transient and steady response based on presented method is better than that of ABS only, and the presented method can effectively control the yaw rate and side slip angle synchronously, achieve good transient and steady response, lighten the burden of the driver and improve vehicle yaw stability.

An Adaptive Vehicle Stability Control Strategy Using Tire Slip-Angle Feedback

2014 ◽  
Author(s):  
Mustafa Ali Arat ◽  
Saied Taheri
Keyword(s):  
Control Strategy ◽  
Estimation Algorithm ◽  
Stability Control ◽  
Nonlinear Observer ◽  
Slip Angle ◽  
Vehicle Stability ◽  
Vehicle Performance ◽  
Contact Patch ◽  
Active Safety Systems ◽  
Tire Forces

The dynamics at the tire road contact have an immense effect on the vehicle’s handling and stability characteristics as the majority of the forces and moments acting on the vehicle chassis are generated at the tire contact patch. Sudden changes at this contact patch results in abrupt variations in vehicle characteristics which may lead to lose of control for the inexperienced driver. The active safety systems available today seek to prevent such unintended vehicle behavior by assisting drivers in maintaining control of their vehicles. Nevertheless, the lack of knowledge about the tire-road interactions highly limits their effectiveness. Motivated by this opportunity and necessity in the field, this study develops a tire slip-angle estimation algorithm and an adaptive control strategy to improve vehicle stability. The estimator uses a sensor fusion approach that integrates feedback from a concept technology, namely the intelligent tire with a model based nonlinear observer to provide information on tire forces and slip-angle. The proposed control and observer algorithms are evaluated using numerical analysis under a double lane change maneuver. To get a better measure of possible improvements in vehicle performance, the tests are executed together with baseline algorithm inspired by a conventional system. The results demonstrate that the proposed algorithms can successfully negotiate the given tasks as well as promising considerable improvements over the baseline system.

scholarly journals Steering Stability Control for a Four Hub-Motor Independent-Drive Electric Vehicle with Varying Adhesion Coefficient

Energies ◽  
2018 ◽  
Vol 11 (9) ◽  
pp. 2438 ◽  
Author(s):  
Rufei Hou ◽  
Li Zhai ◽  
Tianmin Sun
Keyword(s):  
Electric Vehicle ◽  
Control Strategy ◽  
Integrated Control ◽  
Control Level ◽  
Stability Control ◽  
Sideslip Angle ◽  
Adhesion Coefficient ◽  
The Road ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control

In order to enhance the steering stability of a four hub-motor independent-drive electric vehicle (4MIDEV) on a road with varying adhesion coefficient, for example on a joint road, this paper proposes a hierarchical steering stability control strategy adapted to the road adhesion. The upper control level of the proposed strategy realizes the integrated control of the sideslip angle and yaw rate in the direct yaw moment control (DYC), where the influences of the road adhesion and sideslip angle are both studied by the fuzzy control. The lower control level employs a weight-based optimal torque distribution algorithm in which weight factors for each motor torque are designed to accommodate different adhesion of each wheel. The proposed stability control strategy was validated in a co-simulation of the Carsim and Matlab/Simulink platforms. The results of double-lane-change maneuver simulations under different conditions indicate that the proposed strategy can effectively achieve robustness to changes in the adhesion coefficient and improve the steering stability of the 4MIDEV.

Simulating Research of Integrated Control for Automobile Steering Stability

2011 ◽  
Vol 130-134 ◽  
pp. 2190-2193
Author(s):  
Chuan Long Shi ◽  
Chuan Hui Liu
Keyword(s):  
Integrated Control ◽  
Nonlinear Effects ◽  
Stability Control ◽  
Lateral Acceleration ◽  
Slip Angle ◽  
Software Environment ◽  
Stability Performance ◽  
Stability Control System ◽  
Integrated Controller ◽  
Yaw Moment

In this paper, four-wheel steering and direct yaw-moment integrated controller is designed. To verify the effectiveness of the integrated controller, a nonlinear three-degree-of-freedom model is employed for computer simulation. Considering the nonlinear effects of tyre, Pacejka tyre model was adopted to set up the nonlinear vehicle dynamic model. The direct yaw-moment controller was designed based on optimal control theory. Simulation on the nonlinear vehicle with integrated controller in Matlab/Simulink software environment was described. The simulations suggest, compared with FWS and 4WS, the integrated controller can make the handling and stability performance on big lateral acceleration and slip angle improved, and make the driver drive the vehicle normally. The conclusion can be useful for the system design of vehicle stability control system.

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