scholarly journals A novel assist-steering method with direct yaw moment for distributed-drive articulated heavy vehicle

2019 ◽  
Vol 234 (1) ◽  
pp. 214-224 ◽  
Author(s):  
Tao Xu ◽  
Xuewu Ji ◽  
Yanhua Shen
Keyword(s):  
Control Method ◽  
Steering System ◽  
Heavy Vehicles ◽  
Direct Yaw Moment Control ◽  
Hydraulic Steering ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Yaw Moment ◽  
Steering Methods

This paper presents a novel assist-steering method for distributed-drive articulated heavy vehicles (DAHVs) to reduce its dependency on hydraulic steering method and improve the pressure characteristics of hydraulic struts. The objective is to realise the electrification of steering process for DAHVs, which is the basis of unmanned design with more stable control in the following studies. The theory and purpose of the proposed assist-steering method in this paper distinguishes it from the traditional direct yaw-moment control method or assist-steering methods in the previous studies, which easily produce interference with hydraulic steering method in DAHVs during steering process. In this paper, an accurate vehicle model is developed along with the field test for its satisfactory verification. Meanwhile, with the decoupling analyses of two different effects of steering methods on vehicle steering process, the assist-steering method is developed. In order to show the advantages brought on by this method, a case study is performed and analyzed. The results demonstrate that this proposed method can reduce the pressure of hydraulic steering system to about 41.2% without any changes of steering process, which is limited by the drive ability of wheel-side motor. Moreover, the pressure of inlet chamber in hydraulic struts is always reduced to about 40%–60% without any changes of the pressure in outlet chamber, which can improve the working performance of hydraulic steering system.

Study on Fuzzy PI Control of Vehicle Yaw Moment Based on Optimal Allocation of Braking Forces

2014 ◽  
Vol 556-562 ◽  
pp. 2293-2296
Author(s):  
Gang Li ◽  
Hai Lan Han ◽  
Chao Wang ◽  
Gao Feng Ma
Keyword(s):  
Optimal Allocation ◽  
Control Method ◽  
Hierarchical Control ◽  
Pi Control ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Brake Force ◽  
Moment Control ◽  
Driving Stability ◽  
Yaw Moment

For vehicle direct yaw moment control (DYC) ,the additional yaw moment decision method based on the fuzzy PI control and optimal allocation method of yaw moment based on quadratic programming are studied. Yaw moment control adopts hierarchical control method.The fuzzy PI controller and brake force optimization distributor are designed. The control method is verified through the Matlab/Simulink and CarSim co-simulation experiment.The results show that the control method can make the vehicle track the expected value better and improve the driving stability effectively.

Integrated nonlinear robust adaptive control for active front steering and direct yaw moment control systems with uncertainty observer

2020 ◽  
Vol 42 (16) ◽  
pp. 3267-3280
Author(s):  
Jiaxu Zhang ◽  
Shiying Zhou ◽  
Fengjun Li ◽  
Jian Zhao
Keyword(s):  
Adaptive Controller ◽  
Steering System ◽  
Front Wheel ◽  
Robust Adaptive Control ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Robust Adaptive ◽  
Yaw Moment ◽  
Nonlinear Robust

This paper presents an integrated nonlinear robust adaptive controller with uncertainty observer for active front wheel steering system and direct yaw moment control system. First, an integrated vehicle chassis control model is established as the nominal model with the additive and multiplicative uncertainties of the system. Secondly, an integrated nonlinear robust adaptive control law with the additive uncertainty observer is designed via Lyapunov stability theory to calculate the corrective yaw moment, and an adaptive law is designed based on projection correction method to online estimate and compensate the multiplicative uncertainty of the system. Then, the constrained optimal allocation problem of the corrective yaw moment is transformed into the nonlinear optimization problem, and the sequential quadratic programming method is used to solve the nonlinear optimization problem to coordinate active front wheel steering system and direct yaw moment control system. Finally, the performance of the proposed integrated nonlinear robust adaptive controller is verified via vehicle dynamics simulation software.

scholarly journals Integrated control performance of drive-by-wire independent drive electric vehicle

2019 ◽  
Vol 10 ◽  
pp. 16
Author(s):  
Ling Yu ◽  
Sunan Yuan
Keyword(s):  
Electric Vehicle ◽  
Control Method ◽  
Reference Model ◽  
Integrated Control ◽  
Vehicle Stability ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Moment Control ◽  
The Stability ◽  
Yaw Moment

In order to improve the stability and safety of vehicles, it is necessary to control them. In this study, the integrated control method of drive-by-wire independent drive electric vehicle was studied. Firstly, the reference model of electric vehicle was established. Then, an integrated control method of acceleration slip regulation (ARS) and direct yaw moment control (DYC) was designed for controlling the nonlinearity of tyre, and the simulation experiment was carried out under the environment of MATLAB/SIMULINK. The results showed that the vehicle lost its stability when it was uncontrolled; under the control of a single DYC controller, r and β values got some control, but the vehicle stability was still low; under the integrated control of ARS+DYC, the vehicle stability was significantly improved; under the integrated control method, the overshoot, regulation time and steady-state error of the system were all small. Under the simulation of extreme conditions, the integrated control method also showed excellent performance, which suggested the method was reliable. The experimental results suggests the effectiveness of the integrated control method, which makes some contributions to the further research of the integrated control of electric vehicles.

A New DYC Control Strategy Based on Feedforward Control in the Linear Region

2012 ◽  
Vol 442 ◽  
pp. 482-487
Author(s):  
Qi Dong Wang ◽  
He Huang ◽  
Wu Wei Chen
Keyword(s):  
Feedback Control ◽  
Control Method ◽  
Feedforward Control ◽  
Sliding Modes ◽  
Linear Region ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Yaw Moment ◽  
Control Output

This paper discussed a new direct yaw moment control(DYC) method which was coupled with feedforward control by utilizing the estimated cornering stiffness coeficients. Comparing two simultaneously running single track models in the linear region,the feedforward control output was produced. Higher-order sliding modes(HOSM) was used to ensure the robustness of the control system in the limit region. A weight gain was used to combined feedforward control and feedback control. The simulation results in VeDYNA show that this new DYC control method based on the knowledge of cornering stiffness significantly improve the vehicle desired trajectory over that of feedback control alone.

The Stability Control of Individual Drive Electric Vehicle Based on Torque Distribution

2010 ◽  
Vol 29-32 ◽  
pp. 1991-1996
Author(s):  
Ju Wei Li ◽  
Xiao Lin Cui
Keyword(s):  
Control Method ◽  
Stability Control ◽  
Torque Distribution ◽  
Handling Performance ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Simulation Results ◽  
The Stability ◽  
Yaw Moment

A direct yaw moment control (DYC) method based on optimal predictive method is proposed to achieve an external yaw moment which is as low as possible. This control method calculates the necessary moment according the vehicle condition, and then optimizes the distribution of drive/brake torque to achieve the necessary yaw moment considering the constraints of actuators. The effectiveness of the designed controller is investigated by simulations. The simulation results indicate that a satisfactory handling performance can be achieved when the proposed controller is applied.

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