scholarly journals Improving Handling Stability Performance of Four-Wheel Steering Vehicle Based on the H2/H∞ Robust Control

2019 ◽  
Vol 9 (5) ◽  
pp. 857 ◽  
Author(s):  
Fei-Xiang Xu ◽  
Xin-Hui Liu ◽  
Wei Chen ◽  
Chen Zhou ◽  
and Bing-Wei Cao
Keyword(s):  
Robust Control ◽  
System Performance ◽  
Rear Wheel ◽  
Stability Control ◽  
Driver Model ◽  
Vehicle Stability ◽  
Vehicle Model ◽  
Stability Performance ◽  
Vehicle Stability Control ◽  
Modeling Uncertainties

Considering the demand for vehicle stability control and the existence of uncertainties in the four-wheel steering (4WS) system, the mixed H2/H∞ robust control methodology of the 4WS system is proposed. Firstly, the linear 2DOF vehicle model, the nonlinear 8DOF vehicle model, the driver model, and the rear wheel electrohydraulic system model were constructed. Secondly, based on the yaw rate tracking strategy, the mixed H2/H∞ controller was designed with the optimized weighting functions to guarantee system performance, robustness, and the robust stability of the 4WS vehicle stability control system. The H∞ method was applied to minimize the effects of modeling uncertainties, sensor noise, and external disturbances on the system outputs, and the H2 method was used to ensure system performance. Finally, numerical simulations based on Matlab/Simulink and hardware-in-the-loop experiments were performed with the proposed control strategy to identify its performance. The simulation and experimental results indicate that the handling stability of the 4WS vehicle is improved by the H2/H∞ controller and that the 4WS system with the H2/H∞ controller has better handling stability and robustness than those of the H∞ controller and the proportional controller.

scholarly journals Robust vehicle stability control with an uncertain driver model

2013 ◽  
Author(s):  
Ashwin Carvalho ◽  
Giovanni Palmieri ◽  
H. Eric Tseng ◽  
Luigi Glielmo ◽  
Francesco Borrelli
Keyword(s):  
Stability Control ◽  
Driver Model ◽  
Vehicle Stability ◽  
Vehicle Stability Control

Vehicle yaw stability control using active rear steering: Development and experimental validation

2016 ◽  
Vol 231 (2) ◽  
pp. 333-345 ◽  
Author(s):  
Baozhen Zhang ◽  
Amir Khajepour ◽  
Avesta Goodarzi
Keyword(s):  
Cost Effective ◽  
Steering System ◽  
Stability Control ◽  
Vehicle Stability ◽  
Stability Performance ◽  
Active Steering ◽  
Vehicle Stability Control ◽  
Yaw Stability ◽  
Suspension Model ◽  
Vehicle Testing

In this paper, a novel pulse active steering system for improving vehicle yaw stability is developed. In the proposed method, pulses are sent to the steerable rear wheels whenever the error between the expected and actual yaw rate is outside a predetermined range. The proposed method and its performance are verified experimentally by full vehicle testing. For this purpose, a simplified vehicle model and a rear suspension model are developed. Vehicle stability is investigated and the steering pulse parameters on the vehicle’s stability are studied. A control system is designed and numerical simulations are performed. Moreover, the active rear steering system is implemented on a Lexus for performing road experiments. Results from simulations and experiments indicate that considerable improvement in the yaw stability performance can be achieved by the proposed system. The proposed method is more cost effective and simpler for vehicle stability control.

Handling Delays in Yaw Rate Control of Electric Vehicles Using Model Predictive Control With Experimental Verification

2017 ◽  
Vol 139 (12) ◽  
Author(s):  
Milad Jalali ◽  
Amir Khajepour ◽  
Shih-ken Chen ◽  
Bakhtiar Litkouhi
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Rear Wheel ◽  
Stability Control ◽  
Vehicle Stability ◽  
Control Loop ◽  
Yaw Rate ◽  
Vehicle Stability Control ◽  
Wheel Drive ◽  
Rear Wheel Drive

In this paper, a new approach is proposed to deal with the delay in vehicle stability control using model predictive control (MPC). The vehicle considered here is a rear-wheel drive electric (RWD) vehicle. The yaw rate response of the vehicle is modified by means of torque vectoring so that it tracks the desired yaw rate. Presence of delays in a control loop can severely degrade controller performance and even cause instability. The common approaches for handling delays are often complex in design and tuning or require an increase in the dimensions of the controller. The proposed method is easy to implement and does not entail complex design or tuning process. Moreover, it does not increase the complexity of the controller; therefore, the amount of online computation is not appreciably affected. The effectiveness of the proposed method is verified by means of carsim/simulink simulations as well as experiments with a rear-wheel drive electric sport utility vehicle (SUV). The simulation results indicate that the proposed method can significantly reduce the adverse effect of the delays in the control loop. Experimental tests with the same vehicle also point to the effectiveness of this technique. Although this method is applied to a vehicle stability control, it is not specific to a certain class of problems and can be easily applied to a wide range of model predictive control problems with known delays.

Future Vehicle Stability Control Systems for Motorcycles With Focus on Accident Prevention

2008 ◽  
Author(s):  
P. Seiniger ◽  
H. Winner ◽  
J. Gail
Keyword(s):  
Control Systems ◽  
Dynamic Control ◽  
Angular Acceleration ◽  
Rear Wheel ◽  
Stability Control ◽  
Vehicle Stability ◽  
Electronic Stability Program ◽  
Vehicle Stability Control ◽  
Tire Forces ◽  
Motorcycle Accidents

Vehicle Stability Control systems (VSC) for four-wheeled vehicles like the electronic stability program (ESP) helped to decrease the number of traffic deaths in Germany to an all-time low over the last ten years. However, the number of people killed in powered two-wheeler accidents has been almost constant over the same period of time. Vehicle Stability Control systems for powered two-wheelers (especially motorcycles) so far include only anti-lock brakes and traction control systems, both systems are not designed to work in cornering. Further stability control systems are not known up to now. The objective of this paper is to assess the technical possibilities for future Vehicle Stability Control systems and the amount of accidents that could be prevented by those systems. From an accident analysis, all accidents not avoidable by today’s VSC Systems have been analyzed. Only accidents while cornering without braking have been determined as potentially avoidable by future technical systems (braked accidents have been counted as preventable by improved today’s systems). The accidents can be caused by insufficient friction (e.g. slippery road surface, sand, oil or to high curve speed). About 4 to 8 percent of all motorcycle accidents are of this type. The data source for accident descriptions were interviews of motorcycle experts who were able to describe their own accidents and detailed accident descriptions from an accident database. The accident types have been investigated with driving experiments and computer simulation. With a vehicle model different ways to influence the critical driving situations could be analyzed and evaluated. Experiments and simulations showed an instable roll and side-slip angular acceleration of the motorcycle during critical driving situations. The sideslip rate proved to be a robust criterion for recognizing whether a driving situation is critical. The roll movement of the vehicle cannot be influenced with reasonable means, because neither the lateral tire forces can be increased nor stabilizing gyros can be used since the necessary angular momentum is to large for a feasible package. The vehicle sideslip rate can be influenced by braking the front or the rear wheel, thus generating a yaw moment to avoid the dangerous high-side type accidents when friction changes back from low to high. The motorcycle accidents influenced by this system are only a small portion of the mentioned accidents, so as a result of this study, the potential for future vehicle dynamic control systems that help prevent non-braking cornering accidents is estimated quite low.

A Comparison of Two Control Methods for Vehicle Stability Control by Direct Yaw Moment

2011 ◽  
Vol 120 ◽  
pp. 203-217 ◽  
Author(s):  
Benoit Lacroix ◽  
Zhao Heng Liu ◽  
Patrice Seers
Keyword(s):  
Stability Control ◽  
Pole Placement ◽  
Slip Angle ◽  
Vehicle Stability ◽  
Control Methods ◽  
Comparison Study ◽  
Vehicle Model ◽  
Vehicle Stability Control ◽  
Nonlinear Vehicle Model ◽  
Yaw Moment

This paper proposes a comparison study of two vehicle stability control methods by direct yaw-moment control (DYC): a PID and a sliding controller. For the purpose of this study, control systems are based solely on vehicle side-slip angle state feedback and the lateral dynamics of the 2 DOF vehicle model are used to establish the desired response. Close-loop dynamics of the PID controller are determined with the pole placement method, and an anti-windup strategy is adopted to respond to the tire’s nonlinear characteristics. The comparison study was performed by computer simulations with a 14 DOF nonlinear vehicle model validated with experimental data. The controllers are evaluated for typical severe manoeuvres on low friction road surfaces. It is found that despite their fundamental differences, the control methods provide comparable performances for the cases studied.

Study on Fuzzy Control for Vehicle Dynamic Stability

2012 ◽  
Vol 430-432 ◽  
pp. 1747-1750
Author(s):  
Feng Du ◽  
Zhi Wei Guan ◽  
Guang Hui Yan
Keyword(s):  
Fuzzy Control ◽  
Control Strategy ◽  
Fuzzy Controller ◽  
Rear Wheel ◽  
Stability Control ◽  
Vehicle Stability ◽  
Vehicle Dynamic ◽  
Control Effect ◽  
Vehicle Stability Control ◽  
Driving Stability

To ensure vehicle stability in critical and dangerous working conditions, a vehicle stability control strategy is proposed, which is to generate compensating yaw moment by using the combined action of active rear-wheel steering and differential braking. A corresponding fuzzy controller for the proposed control strategy is designed. To verify the control effect of fuzzy controller, the numerical simulation by using vehicle dynamic model is performed in critical condition. The simulation results show that the designed fuzzy control system can efficiently prevent the vehicle to lose driving stability during critical turning.

An Analytical Transient Tire Model

2001 ◽  
Vol 29 (2) ◽  
pp. 108-132 ◽  
Author(s):  
A. Ghazi Zadeh ◽  
A. Fahim
Keyword(s):  
Transient Behavior ◽  
Stability Control ◽  
Vehicle Stability ◽  
Tire Model ◽  
Steering Angle ◽  
First Order ◽  
Vehicle Stability Control ◽  
Proposed Model ◽  
Depth Study ◽  
And Performance

Abstract The dynamics of a vehicle's tires is a major contributor to the vehicle stability, control, and performance. A better understanding of the handling performance and lateral stability of the vehicle can be achieved by an in-depth study of the transient behavior of the tire. In this article, the transient response of the tire to a steering angle input is examined and an analytical second order tire model is proposed. This model provides a means for a better understanding of the transient behavior of the tire. The proposed model is also applied to a vehicle model and its performance is compared with a first order tire model.

Vehicle Stability Control Through Predictive and Optimal Tire Saturation Management

2012 ◽  
Author(s):  
Justin Sill ◽  
Beshah Ayalew
Keyword(s):  
Stability Control ◽  
Vehicle Stability ◽  
Distribution Problem ◽  
Scale Separation ◽  
Torque Distribution ◽  
Hydraulic Hybrid ◽  
Time Scale Separation ◽  
Vehicle Stability Control ◽  
Natural Time ◽  
Set Up

This paper presents a predictive vehicle stability control (VSC) strategy that distributes the drive/braking torques to each wheel of the vehicle based on the optimal exploitation of the available traction capability for each tire. To this end, tire saturation levels are defined as the deficiency of a tire to generate a force that linearly increases with the relevant slip quantities. These saturation levels are then used to set up an optimization objective for a torque distribution problem within a novel cascade control structure that exploits the natural time scale separation of the slower lateral handling dynamics of the vehicle from the relatively faster rotational dynamics of the wheel/tire. The envisaged application of the proposed vehicle stability strategy is for vehicles with advanced and emerging pure electric, hybrid electric or hydraulic hybrid power trains featuring independent wheel drives. The developed predictive control strategy is evaluated for, a two-axle truck featuring such an independent drive system and subjected to a transient handling maneuver.

Mixed H∞/H2 Output Feedback Stability Control for Dual-Motor Independent Drive Electric Vehicle

2013 ◽  
Vol 658 ◽  
pp. 602-608 ◽  
Author(s):  
Cheng Lin ◽  
Chun Lei Peng
Keyword(s):  
Electric Vehicle ◽  
Output Feedback ◽  
Stability Control ◽  
Vehicle Stability ◽  
Robust Performance ◽  
Output Feedback Controller ◽  
Vehicle Stability Control ◽  
Feedback Stability ◽  
Simulation Results ◽  
Yaw Moment

This paper presents the design of mixed H∞/H2Output Feedback Controller for Independent Drive Electric Vehicle Stability Control. It generates yaw moment by applying driving intervention at front Independent driving wheels according to the vehicle states. The performance of the proposed controller is evaluated through a series of simulations under different velocity and different mass. The simulation results show that the controller can help vehicle against a certain range of uncertainty (speeds and loads) and get excellent robust performance.

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