scholarly journals Research on Methods of Active Steering Control Based on Receding Horizon Control

Energies ◽  
2018 ◽  
Vol 11 (9) ◽  
pp. 2243 ◽  
Author(s):  
Jiwei Feng ◽  
Chunjiang Bao ◽  
Jian Wu ◽  
Shuo Cheng ◽  
Guangfei Xu ◽  
...  
Keyword(s):  
Real Time ◽  
Control Method ◽  
Stability Control ◽  
Control Model ◽  
Receding Horizon Control ◽  
Steering Control ◽  
Receding Horizon ◽  
Active Steering ◽  
The Stability ◽  
Active Steering Control

Active steering technology is a key technology for automatic driving vehicles to achieve route tracking and obstacle avoidance and risk avoidance, and its performance will affect the stability control of the vehicle. For solving the stability control issues of vehicles, which have uncertainty in model and robustness in system, this paper proposes an active steering control method based on the receding horizon control model. It calculates the optimal control law by this method by using the real-time vehicle state so that it can compensate for the uncertainty caused by model mismatch, interference, etc. The design of the controller is implemented by using the yaw rate deviation of the vehicle as the input of the receding horizon linear quadratic controller model and then inputting the calculated superposition angle into the vehicle model in real time. We built a Simulink control model to implement co-simulation with CarSim to verify the control effect of the controller. In addition, we built a steering hardware-in-the-loop platform based on the LabVIEW RT system. The experimental results show that the active steering system adopting a receding horizon control method had better system robustness and robust stability.

scholarly journals Research on vehicle active steering control based on linear matrix inequality and hardware in the loop test scheme design and implement for active steering

2019 ◽  
Vol 11 (11) ◽  
pp. 168781401989210 ◽  
Author(s):  
Guangfei Xu ◽  
Peisong Diao ◽  
Xiangkun He ◽  
Jian Wu ◽  
Guosong Wang ◽  
...  
Keyword(s):  
Linear Matrix Inequality ◽  
Model Uncertainty ◽  
Control Method ◽  
Steering System ◽  
Linear Matrix ◽  
Matrix Inequality ◽  
Steering Control ◽  
Sensor Noise ◽  
Active Steering ◽  
Active Steering Control

In the research process of automotive active steering control, due to the model uncertainty, road surface interference, sensor noise, and other influences, the control accuracy of the active steering system will be reduced, and the driver’s road sense will become worse. The traditional robust controller can solve the model uncertainty, pavement disturbance and sensor noise in the design process, but cannot consider the performance enough. Therefore, this article proposes an active steering control method based on linear matrix inequality. In this method, the model uncertainty, road interference, sensor noise, yaw velocity, and slip side angle tracking errors are all considered as constraint targets, respectively, so that the performance and robust stability of the active front steering system can be guaranteed. Finally, simulation and hardware in the loop experiment are implemented to verify the effect of active front steering system under the linear matrix inequality controller. The results show that the proposed control method can achieve better robust performance and robust stability.

Active Steering Control Based on the Estimated Tire Forces

1999 ◽  
Vol 123 (3) ◽  
pp. 505-511 ◽  
Author(s):  
Kunsoo Huh ◽  
Joonyoung Kim
Keyword(s):  
Control Method ◽  
Lateral Force ◽  
Steering Control ◽  
Monitoring Model ◽  
Active Steering ◽  
Steer By Wire ◽  
The Difference ◽  
Tire Forces ◽  
Active Steering Control ◽  
As If

Steered vehicles on slippery roads tend to slide outward with less lateral force than on high friction roads. In this paper, an active steering control method is proposed such that the vehicles on slippery roads are steered as if they are driven on high friction roads. In order to estimate the lateral force at each tire, a monitoring model is developed utilizing not only the vehicle dynamics but also the roll motion. The estimated lateral force is compared with the optimal reference force and the difference is compensated by the active steering controller. A fuzzy logic rule is designed for the active controller and its performance is evaluated on a steering Hardware-In-the-Loop Simulation (HILS) system. Steering results on slippery curved and sinusoidal roads demonstrate the effectiveness of the proposed controller. The drivers with the controller can steer the vehicles as if they are always driving on the high friction road, because the deviation from the high friction road is accommodated by the proposed steering controller. This method can be realized with the steer-by-wire concept and is promising as an active safety technology.

scholarly journals Design and Control of Disc PMSM Directly Driven Wheel for Tramcar

2014 ◽  
Vol 6 ◽  
pp. 747636 ◽  
Author(s):  
Zhenggang Lu ◽  
Xiaojie Sun ◽  
Jin Zhang
Keyword(s):  
Rotational Speed ◽  
Control Method ◽  
Sliding Mode ◽  
Control Strategies ◽  
Permanent Magnet Synchronous Motor ◽  
Central Line ◽  
Steering Control ◽  
Wheel Pair ◽  
Active Steering ◽  
Active Steering Control

A new solution of disc permanent magnet synchronous motor (PMSM) directly driven wheel is proposed as a design customized for low floor tramcar. And the motors are overhung on the bogie frame to make the weight as the sprung mass. Meanwhile, the universal coupling is installed between the driven wheel and motor shaft. A disc PMSM is designed according to the demand of traction power. The motors are not only traction and steering actuators but are also regarded as sensors to obtain the rotational speed of motor directly driven wheel. Through the obtained data, an active sensorless steering control method is applied using the relative rotational speed between wheel pair. Finally, models combined with motor control and steering control are set up to check the control strategies. The simulation results indicate that sliding mode observer has the functionality of estimating the rotating speed with high accuracy for active steering control. The tramcar exhibits self-steering and better negotiation under active steering control. The tramcar is under a better condition of running along the central line of track with small attack angle and low power consumption while passing the shape curve track.

A new robust combined control system for improving manoeuvrability, lateral stability and rollover prevention of a vehicle

2019 ◽  
Vol 234 (1) ◽  
pp. 198-213 ◽  
Author(s):  
Mohammad Amin Saeedi
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Control Method ◽  
Sliding Mode ◽  
Lateral Stability ◽  
Steering Control ◽  
Nonlinear Dynamic Model ◽  
Active Steering ◽  
Combined Control ◽  
Active Steering Control

This paper presents a new effective method in order to achieve an appropriate performance for a four-wheeled vehicle during different conditions. The main goal of the study is focused on the handling improvement and lateral stability increment of the vehicle using a robust combined control system. First, in order to increase the vehicle's manoeuvrability, an active steering control system is proposed based on the sliding mode control method and using the simplified dynamic model. The tracking of the desired values of the yaw rate and lateral velocity of the vehicle is the main purpose for using the controller. Also, in order for verifying the performance of the sliding mode controller, the linearization feedback control method is used to design the active steering control system. Moreover, to improve the directional stability of the vehicle, a new active roll control system is proposed. In this control system, the roll angle is considered as the state variable as well as the active anti-roll-bar is utilized as an actuator to generate the roll moment. Then, a 14-degrees-of-freedom nonlinear dynamic model of the vehicle validated using CarSim software is utilized. Afterward, the performance of the designed combined control system is investigated at various velocities. The simulation results confirm that the combined control system has an important effect on vehicle's manoeuvrability improvement and its lateral stability increment, especially during severe transient manoeuvre.

scholarly journals Stability Control for Electric Vehicles with Four In-Wheel-Motors Based on Sideslip Angle

2021 ◽  
Vol 12 (1) ◽  
pp. 42
Author(s):  
Kun Yang ◽  
Danxiu Dong ◽  
Chao Ma ◽  
Zhaoxian Tian ◽  
Yile Chang ◽  
...  
Keyword(s):  
Electric Vehicles ◽  
Control Method ◽  
Sliding Mode ◽  
Stability Control ◽  
Torque Control ◽  
Wheel Load ◽  
Sideslip Angle ◽  
Distribution Method ◽  
Load Rate ◽  
The Stability

Tire longitudinal forces of electrics vehicle with four in-wheel-motors can be adjusted independently. This provides advantages for its stability control. In this paper, an electric vehicle with four in-wheel-motors is taken as the research object. Considering key factors such as vehicle velocity and road adhesion coefficient, the criterion of vehicle stability is studied, based on phase plane of sideslip angle and sideslip-angle rate. To solve the problem that the sideslip angle of vehicles is difficult to measure, an algorithm for estimating the sideslip angle based on extended Kalman filter is designed. The control method for vehicle yaw moment based on sliding-mode control and the distribution method for wheel driving/braking torque are proposed. The distribution method takes the minimum sum of the square for wheel load rate as the optimization objective. Based on Matlab/Simulink and Carsim, a cosimulation model for the stability control of electric vehicles with four in-wheel-motors is built. The accuracy of the proposed stability criterion, the algorithm for estimating the sideslip angle and the wheel torque control method are verified. The relevant research can provide some reference for the development of the stability control for electric vehicles with four in-wheel-motors.

Two Mixed Logical Dynamical Real-Time Receding Horizon Control Schemes for Microgrids Operation Optimization

2021 ◽  
Author(s):  
Seyed Shahab Kheradmand ◽  
Reyhaneh Haghpanah ◽  
Mojtaba Barkhordary Yazdi ◽  
Malihe Maghfouri Farsangi
Keyword(s):  
Real Time ◽  
Receding Horizon Control ◽  
Receding Horizon ◽  
Operation Optimization ◽  
Control Schemes ◽  
Mixed Logical Dynamical

Vehicle Lateral Motion Control Based on Estimated Stability Regions

2017 ◽  
Author(s):  
Yiwen Huang ◽  
Yan Chen
Keyword(s):  
Measurement Errors ◽  
Local Stability ◽  
Stability Region ◽  
Control Method ◽  
Linearization Method ◽  
Stability Control ◽  
Lateral Stability ◽  
Shortest Distance ◽  
The Stability ◽  
Yaw Moment

This paper presents a novel vehicle lateral stability control method based on an estimated lateral stability region on the phase plane of vehicle yaw rate and lateral speed, which is obtained through a local linearization method. Since the estimated stability region does not only describe vehicle local stability, but also define the oversteering and understeering characteristics, the proposed control method can achieve both local stability and vehicle handling stability. Considering the irregular geometric shape of the estimated stability region, a stability analysis algorithm is designed to determine the distance between vehicle states and stability region boundaries. State estimation or measurement errors are also incorporated in the distance calculation. Based on the calculated shortest distance between vehicle states and stability boundaries, a direct yaw moment controller is designed to maintain vehicle states stay within the stability region. CarSim® and Simulink® co-simulation is applied to verify the control design through a cornering maneuver. The simulation results show that the proposed control method can make the vehicle stay within the stability region successfully and thus always operate in a safe manner.

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