Direct yaw-moment control of vehicles based on phase plane analysis

2021 ◽  
pp. 095440702110523
Author(s):  
Jun Liu ◽  
Jian Song ◽  
Hanjie Li ◽  
He Huang
Keyword(s):  
Control Strategy ◽  
Phase Plane ◽  
Stable Region ◽  
Slip Angle ◽  
State Variables ◽  
Side Slip Angle ◽  
Direct Yaw Moment Control ◽  
Heading Direction ◽  
Yaw Moment Control ◽  
Moment Control

In view of the problems related to vehicle-handling stability and the real-time correction of the heading direction, nonlinear analysis of a vehicle steering system was carried out based on phase plane theory. Subsequently, direct yaw-moment control (DYC) of the vehicle was performed. A four-wheel, seven-degree-of-freedom nonlinear dynamic model that included the nonlinear characteristics of the tire was established. The stable and unstable regions of the vehicle phase plane were divided, and the stable boundary model was established by analyzing the side slip angle–yaw rate ([Formula: see text]) and side slip angle–side slip angle rate [Formula: see text] phase planes as functions of the vehicle state variables. In the unstable region of the phase plane, taking the instability degree as the control target, a fuzzy neural network control strategy was utilized to determine the additional yawing moment of the vehicle required for stability restoration, which pulled the vehicle back from an unstable state to the stable region. In the stable region of the phase plane, a fuzzy control strategy was utilized to determine the additional yawing moment so that the actual state variables followed the ideal state variables. In this way, the vehicle responded rapidly and accurately to the steering motion of the driver. A simulation platform was established in MATLAB/Simulink and three working condition was tested, that is, step, sine with dwell, and sine amplification signals. The results showed that the vehicle handling stability and the instantaneous heading-direction adjustment ability were both improved due to the control strategy.

A novel manoeuvre stability controller based on vehicle state prediction and intellectual braking torque distribution

2019 ◽  
Vol 234 (1) ◽  
pp. 136-151 ◽  
Author(s):  
Liqin Zhang ◽  
Yang Wu ◽  
Boyuan Li ◽  
Bangji Zhang ◽  
Nong Zhang
Keyword(s):  
Control Strategy ◽  
Sliding Mode ◽  
Sudden Change ◽  
Middle Layer ◽  
Contact Condition ◽  
Slip Angle ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Yaw Moment

This paper proposes an innovative hierarchical direct yaw moment control strategy consisting of upper, middle and lower controllers. In the upper layer, a linear quadratic regulator metric based on current side-slip angle and predicted yaw rate is established to generate the controlled yaw moment. The middle layer determines the actuating tyre forces and allocates the required longitudinal forces for each tyre according to the current tyre–road contact condition. Furthermore, the desired longitudinal slip ratios for each tyre are calculated in the middle layer. Finally, a suitable brake pressure is achieved by the sliding mode controller in the lower layer. The simulation results of sine with dwell and double lane change verify the effectiveness of the proposed method. Compared with a traditional direct yaw moment control strategy that preferentially brakes the priority wheel, the proposed novel strategy is able to keep the longitudinal force of the tyre working in a linear region and has better robustness response when the tyre–road contact condition encounters sudden change.

scholarly journals Game-Based Hierarchical Cooperative Control for Electric Vehicle Lateral Stability via Active Four-Wheel Steering and Direct Yaw-Moment Control

Energies ◽  
2019 ◽  
Vol 12 (17) ◽  
pp. 3339 ◽  
Author(s):  
Zhao ◽  
Lu ◽  
Zhang
Keyword(s):  
Electric Vehicle ◽  
Control Strategy ◽  
Cooperative Control ◽  
Stackelberg Game ◽  
Stability Control ◽  
Lateral Stability ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Yaw Moment

A Stackelberg game-based cooperative control strategy is proposed for enhancing the lateral stability of a four-wheel independently driving electric vehicle (FWID-EV). An upper‒lower double-layer hierarchical control structure is adopted for the design of a stability control strategy. The leader‒follower-based Stackelberg game theory (SGT) is introduced to model the interaction between two unequal active chassis control subsystems in the upper layer. In this model, the direct yaw-moment control (DYC) and the active four-wheel steering (AFWS) are treated as the leader and the follower, respectively, based on their natural characteristics. Then, in order to guarantee the efficiency and convergence of the proposed control strategy, a sequential quadratic programming (SQP) algorithm is employed to solve the task allocation problem among the distributed actuators in the lower layer. Also, a double-mode adaptive weight (DMAW)- adjusting mechanism is designed, considering the negative effect of DYC. The results of cosimulation with CarSim and Matlab/Simulink demonstrate that the proposed control strategy can effectively improve the lateral stability by properly coordinating the actions of AFWS and DYC.

Examination of different models following types of yaw moment control strategy for improving handling safety of a car-caravan combination

2003 ◽  
Vol 217 (7) ◽  
pp. 561-571 ◽  
Author(s):  
O Mokhiamar ◽  
M Abe
Keyword(s):  
Lateral Force ◽  
Slip Angle ◽  
Side Slip Angle ◽  
Yaw Control ◽  
Handling Characteristics ◽  
Bicycle Model ◽  
Model Response ◽  
Single Vehicle ◽  
Yaw Moment Control ◽  
Moment Control

This paper examines the effect of two model responses on the performance of model following types of direct yaw control (DYC). The model responses are the side-slip angle and yaw rate vehicle response of two-degree-of-freedom vehicle motion (bicycle model). The controls aim primarily at stabilizing the handling behaviour of a car-caravan combination as well as making its handling characteristics close to those of a single vehicle. Sensing of the lateral force exerted on a hitch point is essential for the control systems proposed. The estimated side-slip angle using the model observer was compared with the real side-slip angle measured by optical side-slip sensors. The effect of the model response is proved by computer simulations of a closed-loop driver-vehicle system subjected to evasive lane change with braking. It is found that the influence of the model response has a significant effect on the control performance.

scholarly journals Research on Direct Yaw Moment Control Strategy of Distributed-Drive Electric Vehicle Based on Joint Observer

2021 ◽  
Vol 118 (4) ◽  
pp. 853-874
Author(s):  
Quan Min ◽  
Min Deng ◽  
Zichen Zheng ◽  
Shu Wang ◽  
Xianyong Gui ◽  
...  
Keyword(s):  
Electric Vehicle ◽  
Control Strategy ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Distributed Drive Electric Vehicle ◽  
Moment Control ◽  
Yaw Moment

scholarly journals A novel adaptive sliding mode control approach for electric vehicle direct yaw-moment control

2018 ◽  
Vol 10 (10) ◽  
pp. 168781401880317 ◽  
Author(s):  
Chunyun Fu ◽  
Reza Hoseinnezhad ◽  
Kuining Li ◽  
Minghui Hu
Keyword(s):  
Sliding Mode ◽  
Adaptive Sliding Mode Control ◽  
Slip Angle ◽  
Control Approach ◽  
Adaptive Sliding Mode ◽  
Direct Yaw Moment Control ◽  
Control Gain ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Yaw Moment

Direct yaw-moment control systems have been proven effective in enhancing vehicle stability and handling. The existing direct yaw-moment control designs commonly involve computation of tire side-slip angles, which is susceptible to measurement and estimation errors. The fixed control gain of the conventional sliding mode direct yaw-moment control design cannot adapt to variations and uncertainties in vehicle parameters. As a result, its robustness against parametric variations and uncertainties is limited. To improve the control performance, a novel adaptive sliding mode direct yaw-moment control approach is proposed in this article for electric vehicles with independent motors. The proposed method utilizes a varying control gain to adapt to the variations of front and rear tire side-slip angles. Comparative simulation results show that the proposed scheme outperforms the conventional method with inaccurate tire side-slip angle feedback. With the proposed direct yaw-moment control system on-board, the adverse effects of inaccuracies on tire side-slip angles are suppressed and the vehicle’s robustness against parametric variations and uncertainties is enhanced.

Coordination control of active front steering and direct yaw moment control based on stability judgment for AVs stability enhancement

2021 ◽  
pp. 095440702110181
Author(s):  
Xinxin Yao ◽  
Xianguang Gu ◽  
Ping Jiang
Keyword(s):  
Control Strategy ◽  
Coordination Control ◽  
Tracking Accuracy ◽  
Stability Performance ◽  
Direct Yaw Moment Control ◽  
Active Front Steering ◽  
Yaw Moment Control ◽  
Moment Control ◽  
The Stability ◽  
Yaw Moment

A coordination control strategy based on stability judgment is presented for autonomous vehicles (AVs) aiming to enhance the handling and stability performance. Firstly, the stability judgment scheme is used to evaluate the real-time stability level of vehicles based on the Self-Organizing Feature Map (SOFM) neural network and K-Means algorithm. Secondly, a coordination controller of active front steering (AFS) and direct yaw moment control (DYC) is designed to track the desired vehicle motion. To enhance the handling and stability of AVs, the weights of AFS and DYC controllers are adaptively adjusted according to the vehicle stability level. Finally, the effectiveness of the proposed method is verified in co-simulation environment of CarSim and Simulink, and a rapid control prototyping test is implemented to evaluate the feasibility and robustness. The results indicate that the stability judgment scheme and coordination control strategy for AVs can not only satisfy the requirements of path tracking accuracy but also enhance the handling and stability performance.

Innovative Active Vehicle Safety Using Integrated Stabilizer Pendulum and Direct Yaw Moment Control

2014 ◽  
Vol 136 (5) ◽  
Author(s):  
Avesta Goodarzi ◽  
Fereydoon Diba ◽  
Ebrahim Esmailzadeh
Keyword(s):  
Control System ◽  
Model Simulation ◽  
Dynamic Control ◽  
Superior Performance ◽  
Steering Control ◽  
Pendulum System ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Yaw Moment

Basically, there are two main techniques to control the vehicle yaw moment. First method is the indirect yaw moment control, which works on the basis of active steering control (ASC). The second one being the direct yaw moment control (DYC), which is based on either the differential braking or the torque vectoring. An innovative idea for the direct yaw moment control is introduced by using an active controller system to supervise the lateral dynamics of vehicle and perform as an active yaw moment control system, denoted as the stabilizer pendulum system (SPS). This idea has further been developed, analyzed, and implemented in a standalone direct yaw moment control system, as well as, in an integrated vehicle dynamic control system with a differential braking yaw moment controller. The effectiveness of SPS has been evaluated by model simulation, which illustrates its superior performance especially on low friction roads.

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