scholarly journals Unified Chassis Control of Electric Vehicles Considering Wheel Vertical Vibrations

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3931
Author(s):  
Xinbo Chen ◽  
Mingyang Wang ◽  
Wei Wang
Keyword(s):  
Ride Comfort ◽  
Sliding Mode ◽  
Vertical Vibration ◽  
Vehicle Body ◽  
Slip Angle ◽  
Vehicle Stability ◽  
Tire Force ◽  
Chassis Control ◽  
Vertical Vibrations ◽  
High Level

In the process of vehicle chassis electrification, different active actuators and systems have been developed and commercialized for improved vehicle dynamic performances. For a vehicle system with actuation redundancy, the integration of individual chassis control systems can provide additional benefits compared to a single ABS/ESC system. This paper describes a Unified Chassis Control (UCC) strategy for enhancing vehicle stability and ride comfort by the coordination of four In-Wheel Drive (IWD), 4-Wheel Independent Steering (4WIS), and Active Suspension Systems (ASS). Desired chassis motion is determined by generalized forces/moment calculated through a high-level sliding mode controller. Based on tire force constraints subject to allocated normal forces, the generalized forces/moment are distributed to the slip and slip angle of each tire by a fixed-point control allocation algorithm. Regarding the uneven road, H∞ robust controllers are proposed based on a modified quarter-car model. Evaluation of the overall system was accomplished by simulation testing with a full-vehicle CarSim model under different scenarios. The conclusion shows that the vertical vibration of the four wheels plays a detrimental role in vehicle stability, and the proposed method can effectively realize the tire force distribution to control the vehicle body attitude and driving stability even in high-demanding scenarios.

scholarly journals Effect of the Anti-Yaw Damper on Carbody Vertical Vibration and Ride Comfort of Railway Vehicle

2020 ◽  
Vol 10 (22) ◽  
pp. 8167
Author(s):  
Mădălina Dumitriu ◽  
Dragoș Ionuț Stănică
Keyword(s):  
Ride Comfort ◽  
Vertical Vibration ◽  
Theoretical Research ◽  
Railway Vehicle ◽  
Vertical Acceleration ◽  
Damping Force ◽  
Comfort Index ◽  
Lateral Vibrations ◽  
Power Spectral ◽  
Vertical Vibrations

The theoretical research on means to reduce the vertical vibrations and improve the ride comfort of the railway vehicle relies on a mechanical model obtained from the simplified representation of the vehicle, while considering the important factors and elements affecting the vibration behaviour of the carbody. One of these elements is the anti-yaw damper, mounted longitudinally, between the bogie and the vehicle carbody. The anti-yaw damper reduces the lateral vibrations and inhibits the yaw motion of the vehicle, a reason for which this element is not usually introduced in the vehicle model when studying the vertical vibrations. Nevertheless, due to the position of the clamping points of the anti-yaw damper onto the carbody and the bogie, the damping force is generated not only in the yawing direction but also in the vertical and longitudinal directions. These forces act upon the vehicle carbody, impacting its vertical vibration behaviour. The paper analyzes the effect of the anti-winding damper on the vertical vibrations of the railway vehicle carbody and the ride comfort, based on the results derived from the numerical simulations. They highlight the influence of the damping, stiffness and the damper mounting angle on the power spectral density of the carbody vertical acceleration and the ride comfort index.

Semi-active Fuzzy Sliding Mode Control of Full Vehicle and Suspensions

2005 ◽  
Vol 11 (8) ◽  
pp. 1025-1042 ◽  
Author(s):  
H. Liu ◽  
K. Nonami ◽  
T. Hagiwara
Keyword(s):  
Ride Comfort ◽  
Sliding Mode ◽  
Suspension System ◽  
Vehicle Body ◽  
Mode Switch ◽  
Low Frequencies ◽  
Comfort Care ◽  
Fuzzy Sliding Mode Control ◽  
Fuzzy Sliding Mode ◽  
Real Vehicle

The suspension of a vehicle is the support system between a vehicle body and wheels. The purpose of a suspension system is to support the vehicle body and increase ride comfort. Care must be taken in the design of a suspension system because if the attenuation force becomes large, the passenger will be subjected to a very rough ride under high-frequency disturbances, and if the attenuation force becomes small, the ride will feel overly soft at low frequencies. Furthermore, if the spring constant is too low, the vehicle’s natural frequency of vibration will be low, and thus the heave, rolling, and pitching will be large. In this study, a fuzzy sliding mode controller for a real vehicle has been designed. A new method for designing the fuzzy sliding mode switch hyperplane has been proposed. Experiment results are presented to confirm the effectiveness of this new algorithm.

scholarly journals Evaluating car's ride comfort and controlling vibration of suspension system based on adaptive PID control

2021 ◽  
Vol 1 (1) ◽  
pp. 1-9
Author(s):  
Zongwei Li ◽  
◽  
Vanliem Nguyen ◽  
Keyword(s):  
Root Mean Square ◽  
Pid Control ◽  
Ride Comfort ◽  
Vertical Vibration ◽  
Suspension System ◽  
Operating Conditions ◽  
Road Surface ◽  
Vehicle Body ◽  
Mean Square ◽  
Adaptive Pid Control

The vertical vibration of the vehicles not only affects the durability of parts of the vehicle and road surface but it also affects the driver’s ride comfort and health. The aim of this study is to evaluate the effect of the vertical vibration on the driver’s ride comfort and health under the vehicle different operating conditions. The adaptive PID control is then applied to improve the vehicle's ride comfort. To achieve this goal, a 2D vibration model for the cars with 5 DOF is established to simulate. The different operating conditions of the speed, road surface, load, and working time of the vehicles are respectively evaluated based on the vertical weighted r.m.s. acceleration responses of the driver’s seat and the international standard ISO 2631. The results show that the road surface condition has the greatest influence on the driver’s comfort and health. With the vehicle's suspension system controlled by the adaptive PID controller, the ride comfort of the vehicle is significantly improved under the various road surfaces. Particularly, at ISO level B, the vertical driver's seat root-mean-square acceleration value is greatly reduced by 24.99 % while the pitching vehicle body root-mean-square acceleration value is decreased by 25.10 % in comparison with the passive suspension system.

Adaptive Vehicle Stability Control With Optimal Tire Force Allocation

2012 ◽  
Author(s):  
Mustafa Ali Arat ◽  
Kanwar Bharat Singh ◽  
Saied Taheri
Keyword(s):  
Stability Control ◽  
Crash Risk ◽  
Slip Angle ◽  
Vehicle Stability ◽  
Successful Implementation ◽  
Tire Force ◽  
Vehicle Stability Control ◽  
Saturation Region ◽  
Road Friction ◽  
Tire Forces

Vehicle stability control systems have been receiving increasing attention, especially over the past decade, owing to the advances in on-board electronics that enables successful implementation of complex algorithms. Another major reason for their increasing popularity lies in their effectiveness. Considering the studies that expose supporting results for reducing crash risk or fatality, organizations such as E.U. and NHTSA are taking steps to mandate the use of such safety systems on vehicles. The current technology has advanced in many aspects, and undoubtedly has improved vehicle stability as mentioned above; however there are still many areas of potential improvements. Especially being able to utilize information about tire-vehicle states (tire forces, tire-slip angle, and tire-road friction) would be significant due to the key role tires play in providing directional stability and control. This paper presents an adaptive vehicle stability controller that makes use of tire force and slip-angle information from an online tire monitoring system. Solving the optimality problem for the tire force allocation ensures that the control system does not push the tires into the saturation region where neither the driver nor the controller commands are implemented properly. The proposed control algorithm is implemented using MATLAB/CarSim® software packages. The performance of the system is evaluated under an evasive double lane change maneuver on high and low friction surfaces. The results indicate that the system can successfully stabilize the vehicle as well as adapting to the changes in surface conditions.

Robust Sliding Mode Control of a Full Vehicle Without Suspension Gap Loss

2005 ◽  
Vol 11 (11) ◽  
pp. 1357-1374 ◽  
Author(s):  
N. Yagiz ◽  
L. E. Sakman
Keyword(s):  
Sliding Mode Control ◽  
Degrees Of Freedom ◽  
Ride Comfort ◽  
Control Method ◽  
Sliding Mode ◽  
The Body ◽  
Vehicle Body ◽  
New Approach ◽  
Full Vehicle ◽  
Mode Control

A seven-degrees-of-freedom full vehicle model is used to design a robust controller and to investigate the performance of active suspensions without losing the suspension working space. Zero reference for vehicle body displacement finishes suspension working distance. Thus, a new approach is suggested in this paper. Force actuators are placed parallel to the suspensions and non-chattering sliding mode control is applied. Since any change in vehicle parameters because of different load or road conditions adversely affects the performance of the ordinary control methods, a robust control method is preferred. To obtain the desired improvement in ride comfort, we aim to decrease the magnitudes of the body vibrations and their accelerations. We present body bounce, pitch and roll motions of the vehicle with the conventional approach and the proposed approach without suspension gap loss, both in the time domain in the case of traveling over a step road profile and in the frequency domain. The results of both approaches are compared. The solution to the suspension gap loss problem has also been presented on periodic road surfaces. At the end of the paper, we discuss the improvement in the performance of the new controller with its robust behavior and the advantage of the new approach.

Analyze for Vertical Vibration of the In-Wheel Motor Electric Vehicle Based on Power Flow Method

2014 ◽  
Vol 915-916 ◽  
pp. 444-447
Author(s):  
Guang Hui Xu ◽  
Yan Yang Wang ◽  
Yi Nong Li ◽  
Wei Sun
Keyword(s):  
Electric Vehicle ◽  
Power Flow ◽  
Ride Comfort ◽  
Hybrid Control ◽  
Vertical Vibration ◽  
Vehicle Body ◽  
Flow Method ◽  
Mass Increase ◽  
Unsprung Mass ◽  
Power Flow Method

The vertical vibration of the in-wheel motor electric vehicle (IWM-EV) induced by large unsprung mass is analyzed based on power flow method. The simulation results show that due to the unsprung mass increase of IWM-EV, energy consumption of the suspension and wheel is increasing, which will cause adverse effects on not just the ride comfort but the maneuver stability. To decrease the effect, a new kind of vibration mitigation measure of the vehicle body absorber combined with an active hybrid control integrated the sky-hook and ground-hook methods is developed. The effectiveness of this measure is verified.

Analytical Redundancy Based Fault Tolerant Control of a Steer-by-Wire System

2006 ◽  
Author(s):  
Sohel Anwar ◽  
Lei Chen
Keyword(s):  
Fault Detection ◽  
Fault Detection And Isolation ◽  
Vehicle Body ◽  
Slip Angle ◽  
Side Slip Angle ◽  
Body Side ◽  
Steer By Wire ◽  
Analytical Redundancy ◽  
High Level ◽  
Wire System

This paper presents a novel observer-based analytical redundancy for a steer-by-wire (SBW) system. In order to achieve high level of reliability for a By-Wire system, double, triple, or even quadruple redundant sensors, actuators, communication networks, and controllers are needed. But this added hardware increases the overall cost of the vehicle. This paper utilizes a novel analytical redundancy methodology to reduce the total number of redundant road-wheel angle (RWA) sensors in a triply redundant RWA-based SBW system, while maintaining a high level of reliability. The self-aligning torque at road-tire interface due to the steering dynamics has been modeled as a function of the linear vehicle states. A full state observer was designed using the combined model of the vehicle and SBW system to estimate the vehicle body side slip angle. The steering angle was then estimated from the observed and measured states of the vehicle (body side slip angle and yaw rate) as well as the current input to the SBW electric motor(s). With at least two physical road-wheel angle sensors and the analytical estimation of the RWA value (which replaces the third physical sensor), a fault detection and isolation (FDI) algorithm was developed using a majority voting scheme. The FDI algorithm was then used to detect faulty sensor(s) in order to maintain safe drivability. The proposed analytical redundancy based fault detection & isolation algorithms and the linearized vehicle model were modeled in SIMULINK. Simulation of the proposed algorithm was performed for both single and multiple sensor faults. Simulation results show that the proposed analytical redundancy based fault detection and isolation algorithm provides the same level of fault tolerance as in an SBW system with full hardware redundancy against single point failures.

scholarly journals Influence of Suspended Equipment on the Carbody Vertical Vibration Behaviour of High-Speed Railway Vehicles

2016 ◽  
Vol 63 (1) ◽  
pp. 145-162 ◽  
Author(s):  
Mădălina Dumitriu
Keyword(s):  
High Speed ◽  
Degrees Of Freedom ◽  
Ride Comfort ◽  
Coupled Model ◽  
Large Mass ◽  
Vertical Vibration ◽  
Reference Points ◽  
Railway Vehicles ◽  
Speed Regime ◽  
Vertical Vibrations

Abstract The equipment mounted on the carbody chassis of the railway vehicles is a critical component of the vehicle in terms of ride comfort. The reason for that is their large mass, able to visibly influence the vibrations mode of the carbody. The paper examines the influence of the equipment upon the mode of vertical vibrations of the carbody in the high-speed vehicles, reached on the basis of the frequency response functions of the acceleration in three carbody reference points - at the centre and above the bogies. These functions are derived from the numerical simulations developed on a rigid-flexible coupled model, with seven degrees of freedom. As a rule, the results herein prove the influence of the equipment mounting mode (rigid or elastic), along with the speed regime, upon the level of vibrations in the carbody reference points, at the resonance frequency of the symmetrical bending mode. Similarly, it is also demonstrated how the equipment mass and the damping degree of the suspension system affect the level of the vibrations in the carbody.

Sign in / Sign up

Export Citation Format

Share Document