Vehicle Dynamics Control Based on Linear Quadratic Regulator

2009 ◽  
Vol 16-19 ◽  
pp. 876-880
Author(s):  
Si Qi Zhang ◽  
Tian Xia Zhang ◽  
Shu Wen Zhou
Keyword(s):  
Control Strategy ◽  
Vehicle Dynamics ◽  
Linear Quadratic Regulator ◽  
Active Safety ◽  
Vehicle Stability ◽  
Steering Control ◽  
Linear Quadratic ◽  
Yaw Rate ◽  
Vehicle Dynamics Control ◽  
Yaw Moment

The paper presents a vehicle dynamics control strategy devoted to prevent vehicles from spinning and drifting out. With vehicle dynamics control system, counter braking are applied at individual wheels as needed to generate an additional yaw moment until steering control and vehicle stability were regained. The Linear Quadratic Regulator (LQR) theory was designed to produce demanded yaw moment according to the error between the measured yaw rate and desired yaw rate. The results indicate the proposed system can significantly improve vehicle stability for active safety.

Vehicle Stability Improvement by Active Front Steering Control

2007 ◽  
Author(s):  
Deling Chen ◽  
Chengliang Yin ◽  
Li Chen
Keyword(s):  
Time Estimation ◽  
Linear Quadratic Regulator ◽  
Steering System ◽  
Angle Measurement ◽  
Vehicle Stability ◽  
Steering Control ◽  
Linear Quadratic ◽  
Sideslip Angle ◽  
Feedback Parameter ◽  
Active Front Steering

This paper presents the vehicle stability improvement by active front steering (AFS) control. Firstly, a mathematical model of the steering system incorporating vehicle dynamics is analyzed based on the structure of the AFS system. Then feedback controller with linear quadratic regulator (LQR) optimization is proposed. In the controller, the assisted motor in the system is controlled by the combination of feedforward method and feedback method. And the feedback parameter is the yaw rate together with the sideslip angle. Due to the difficulties associated with the sideslip angle measurement of vehicle, a state observer is designed to provide real time estimation to meet the demands of feedback. In the last, the system is simulated in MATLAB. The results show that the vehicle handling stability is improved with the AFS control, and the effectiveness of the control system is demonstrated.

Composite Nonlinear Feedback with Disturbance Observer for Active Front Steering

2017 ◽  
Vol 7 (2) ◽  
pp. 434 ◽  
Author(s):  
Sarah 'Atifah Saruchi ◽  
Hairi Zamzuri ◽  
Noraishikin Zulkarnain ◽  
Norbaiti Wahid ◽  
Mohd Hatta Mohammed Ariff
Keyword(s):  
Control Strategy ◽  
Disturbance Observer ◽  
Linear Quadratic Regulator ◽  
Nonlinear Feedback ◽  
Linear Quadratic ◽  
Composite Nonlinear Feedback ◽  
Yaw Rate ◽  
Active Front Steering ◽  
J Curve ◽  
Tracking Response

<p>One of the dominant virtue of Steer-By-Wire (SBW) vehicle is its capability to enhance handling performance by installing Active Front Steering (AFS) system without the driver’s interferences. Hence, this paper introduced an AFS control strategy using the combination of Composite Nonlinear Feedback (CNF) controller and Disturbance Observer (DOB) to achieve fast yaw rate tracking response which is also robust to the existence of disturbance. The proposed control strategy is simulated in J-curve and Lane change manoevres with the presence of side wind disturbance via Matlab/Simulink sotware. Futhermore, comparison with Proportional Integral Derivative (PID) and Linear Quadratic Regulator (LQR) controllers are also conducted to evaluate the effectiveness of the proposed controller. The results showed that the combined CNF and DOB strategy achieved the fastest yaw rate tracking capability with the least impact of disturbance in the AFS system installed in SBW vehicle.</p>

Analysis of Synchronous Moment for Active Front Steering and a Two Actuated Wheels of Electric Vehicle Based on Dynamic Stability Enhancement

2019 ◽  
Vol 11 (1) ◽  
Author(s):  
Eid. S. Mohamed ◽  
Mh.I. Khalil ◽  
Ahmed A.A. Saad
Keyword(s):  
Linear Quadratic Regulator ◽  
Vehicle Stability ◽  
Linear Quadratic ◽  
Smart Systems ◽  
Active Front Steering ◽  
Lqr Controller ◽  
Optimal Linear ◽  
Vehicle Trajectory ◽  
Stability Enhancement ◽  
Yaw Moment

Active Front Steering (AFS) and Direct Yaw moment Controller (DYC) are the vehicle smart systems to improve the vehicle stability and safety. The AFS uses front wheels Steer-By-Wire (SBW) system. DYC uses Rear Independent in Wheel Actuated Electric Vehicles (RIWA-EVs). It generates yaw moment to correct the vehicle state deviations. The proposed controller algorithm consists of two levels. First level feedback controller evaluate the optimal yaw moment generated to achieve the desired vehicle trajectory motion with minimize the yaw rate and side-slip errors. The second level controller is utilized to allocate the required front steer angle and traction/ regeneration to the RIWA embedded in rear wheels by taking into account the tire slip. An optimal Linear Quadratic Regulator (LQR) controller is designed, and its controller effectiveness is evaluated under various input driving manoeuvres. The results indicate that the integrated AFS/DYC can significantly stabilize the vehicle motion and highly reduce the driver’s workload. The laboratory experiment of AFS subsystem, for adequate actual front steering angle is measured, in order to apply in vehicle model to predict the responses. The results disclose that the RMS can be an effective route to monitor the vehicle stability.

Comparison of Analytical and Empirical Models to Capture Variations in Off-Road Vehicle Dynamics

2005 ◽  
Author(s):  
Paul J. Pearson ◽  
David M. Bevly
Keyword(s):  
Empirical Data ◽  
Vehicle Dynamics ◽  
Experimental Validation ◽  
Inertial Sensors ◽  
Analytical Models ◽  
Control Algorithms ◽  
Model Parameters ◽  
Steering Control ◽  
Steering Angle ◽  
Yaw Rate

This paper develops two analytical models that describe the yaw dynamics of a farm tractor and can be used to design or improve steering control algorithms for the tractor. These models are verified against empirical data. The particular dynamics described are the motions from steering angle to yaw rate. A John Deere 8420 tractor, outfitted with inertial sensors and controlled through a PC-104 form factor computer, was used for experimental validation. Conditions including different implements at varying depths, as would normally be found on a farm, were tested. This paper presents the development of the analytical models, validates them against empirical data, and gives trends on how the model parameters change for different configurations.

Vehicle Stability Analyse with Electronic Power Steering Based on Yaw Rate Feedback

2013 ◽  
Vol 397-400 ◽  
pp. 1351-1356
Author(s):  
Hai Feng Song ◽  
Wei Wei Yang
Keyword(s):  
Control Method ◽  
Integrated Control ◽  
Vehicle Stability ◽  
Vehicle Model ◽  
Steering Angle ◽  
Yaw Rate ◽  
Power Steering ◽  
Rate Feedback ◽  
Yaw Stability ◽  
Yaw Moment

A control method is proposed to improve vehicle yaw stability by the integrated control of yaw moment control. The control strategy using feedback compensator is proposed, which produces direct yaw moment and front steering angle to control yaw rate, by actively controlling the front steering angle, the integrated control system makes the performance of the actual vehicle model follow that of an ideal vehicle model. A experiment is performed at different conditions, the results showed the presented method can effectively control the yaw rate, and at the same time lighten the burden of the driver. Key words: EPS; Yaw rate feedback; Vehicle stability

Experimental Investigation of Full-Order Observered and LQR Controlled Building-Like Structure Under Seismic Excitation

2013 ◽  
Vol 307 ◽  
pp. 316-320
Author(s):  
Mustafa Tinkir ◽  
Mete Kalyoncu ◽  
Yusuf Şahin
Keyword(s):  
Control Strategy ◽  
Dynamic Behaviour ◽  
Linear Quadratic Regulator ◽  
Seismic Excitation ◽  
Velocity Control ◽  
Passive Mode ◽  
Linear Quadratic ◽  
Active Mass ◽  
Active Mode ◽  
Two Degree Of Freedom

In this paper, the dynamic behaviour of two degree of freedom building-like structure system against unexpected input such as seismic excitation is considered by experimentally. Proposed system consists of two floors structure with active mass damping (AMD) and shaker. Passive and active mode deflection responses of the floors are investigated and also a cart is used to suppress vibrations, which moves linear direction and is mounted on the second floor. PV (proportional and velocity) control of the cart is realized in passive mode. Moreover LQR (Linear Quadratic Regulator) control is designed to control the cart in active mode while system under excitation. For this aim a full-order observer is designed and implemented to control strategy. Displacements of cart, deflections and accelerations results of the floors are presented separately for passive and active mode responses of the system in the form of graphics.

scholarly journals An Optimal Power Control Strategy for Grid-Following Inverters in a Synchronous Frame

2020 ◽  
Vol 10 (19) ◽  
pp. 6730
Author(s):  
Juan F. Patarroyo-Montenegro ◽  
Jesus D. Vasquez-Plaza ◽  
Fabio Andrade ◽  
Lingling Fan
Keyword(s):  
Power Control ◽  
Transient Response ◽  
Control Strategy ◽  
Linear Quadratic Regulator ◽  
Power Sharing ◽  
Performance Bounds ◽  
Linear Quadratic ◽  
Lcl Filter ◽  
Synchronous Reference Frame ◽  
Power Decoupling

This work proposes a power control strategy based on the linear quadratic regulator with optimal reference tracking (LQR-ORT) for a three-phase inverter-based generator (IBG) using an LCL filter. The use of an LQR-ORT controller increases robustness margins and reduces the quadratic value of the power error and control inputs during transient response. A model in a synchronous reference frame that integrates power sharing and voltage–current (V–I) dynamics is also proposed. This model allows for analyzing closed-loop eigenvalue location and robustness margins. The proposed controller was compared against a classical droop approach using proportional-resonant controllers for the inner loops. Mathematical analysis and hardware-in-the-loop (HIL) experiments under variations in the LCL filter components demonstrate fulfillment of robustness and performance bounds of the LQR-ORT controller. Experimental results demonstrate accuracy of the proposed model and the effectiveness of the LQR-ORT controller in improving transient response, robustness, and power decoupling.

Vehicle Active Rear Wheel Steering Control Based on a Variable Transmission Ratio Control Strategy

2014 ◽  
Vol 709 ◽  
pp. 267-271 ◽  
Author(s):  
Yun Sheng Tan ◽  
Huan Shen ◽  
Man Hong Huang ◽  
Si Ran Zhang
Keyword(s):  
Control Strategy ◽  
Sliding Mode ◽  
Rear Wheel ◽  
Transmission Ratio ◽  
Steering Control ◽  
Yaw Rate ◽  
Human Driver ◽  
Variable Transmission ◽  
Mode Technique ◽  
The Ideal

In order to obtain the ideal steering performance, an active rear wheel steering (ARS) controller, based on the variable transmission ratio control strategy, is developed in this paper. ARS controller using sliding mode technique is designed to follow the desired yaw rate which is calculated by the ideal variable transmission ratio. Simulation result shows that, the proposed control strategy both obtains desired steering performance and provides the obvious benefits for the human driver.

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