The Control of the Braking Stability of Active Rear Wheel Steering Vehicle Based on LQR

2013 ◽  
Vol 416-417 ◽  
pp. 909-913
Author(s):  
Qi Jia Liu ◽  
Si Zhong Chen
Keyword(s):  
Slip Rate ◽  
Linear Quadratic Regulator ◽  
Rear Wheel ◽  
Front Wheel ◽  
Slip Angle ◽  
Linear Quadratic ◽  
Wheel Slip ◽  
Side Slip Angle ◽  
Braking Distance ◽  
Lock Mode

The aim of this article is to improve the brake stability of active rear wheel steering vehicle. The optimal theory of linear quadratic regulator is used to construct a controller, and the aim of the controller is to maintain the side slip angle is zero, and the control parameter is set according to the change of velocity when braking. An antilock brake model based on the door limit of wheel slip rate is constructed. The analysis is carried on a front wheel steering vehicle, which has two kinds of unti-lock mode. Meanwhile, an active rear wheel steering vehicle with two kinds of unti-lock mode is performed, also. All tests are performed on the bisectional road. The results of analysis show that the active rear wheel steering vehicle using the anti-lock mode of four wheels independent control can give the shortest braking distance, the smaller side slip angle and the smaller deviation from the lane. So it can give more contribution to the braking safety.

Steering control of six-wheeled vehicles using linear quadratic regulator techniques

2007 ◽  
Vol 221 (10) ◽  
pp. 1231-1240 ◽  
Author(s):  
B-C Chen ◽  
C-C Yu ◽  
W-F Hsu
Keyword(s):  
Linear Quadratic Regulator ◽  
Rear Wheel ◽  
Front Wheel ◽  
Open Loop ◽  
Slip Angle ◽  
Steering Control ◽  
Linear Quadratic ◽  
Integral Control ◽  
Side Slip Angle ◽  
Wheeled Vehicles

The middle- and rear-wheel steering angles of a six-wheeled vehicle need to be coordinated with the front-wheel steering angle to obtain the maximum manoeuvrability. A steering control strategy using the linear quadratic regulator technique with integral control is proposed in this paper such that both zero side-slip angle and target yaw rate following can be achieved simultaneously. An estimator to be used with the control law is also designed to provide the estimate of side-slip angle. AutoSim is used to establish a complex vehicle model with tyre dynamics in MATLAB/Simulink. Both open-loop and closed-loop manoeuvres are performed to evaluate the control performance of the proposed strategy.

Vehicle Motion Stability With Two Vehicle Dynamics Models

2011 ◽  
Author(s):  
Jingliang Li ◽  
Jingang Yi
Keyword(s):  
Vehicle Dynamics ◽  
Rear Wheel ◽  
Slip Angle ◽  
State Variables ◽  
Wheel Slip ◽  
Side Slip Angle ◽  
Lateral Dynamics ◽  
Vehicle Maneuver ◽  
The Stability ◽  
Dynamics Models

We present and compare vehicle maneuver stability under two vehicle dynamics models, one with the rear tire slip angle dynamics and the other with the vehicle side slip angle dynamics. Instead of using vehicle mass center side slip angle, we consider to use rear axial slip angle as one of the state variables for studying vehicle lateral dynamics. Using rear wheel slip angle as a state variable for studying vehicle dynamics has been reported in practices in industry but not rigorously studied. We analyze the new vehicle dynamics and compare the stability results with existing reported results. Both analytical and numerical results have shown that the stability region of the vehicle dynamics by using the rear slip angle is less conservative comparing with using the vehicle side slip angle.

scholarly journals Design of integrated wheel slip-skid factor and vehicle side slip angle using mamdani fuzzy control

2016 ◽  
Author(s):  
Herman M. Kaharmen ◽  
Djoko Kustono ◽  
Waras Kamdi ◽  
Tuwoso ◽  
Poppy Puspitasari
Keyword(s):  
Fuzzy Control ◽  
Slip Angle ◽  
Wheel Slip ◽  
Side Slip Angle

Enhanced braking and steering yaw motion controllers with a non-linear observer for improved vehicle stability

2008 ◽  
Vol 222 (3) ◽  
pp. 293-304 ◽  
Author(s):  
Jeonghoon Song
Keyword(s):  
Load Transfer ◽  
Rear Wheel ◽  
Front Wheel ◽  
Driver Model ◽  
Lateral Acceleration ◽  
Slip Angle ◽  
Vehicle Stability ◽  
Motion Controller ◽  
Non Linear ◽  
Linear Observer

This study proposes two enhanced yaw motion controllers that are modified versions of a braking yaw motion controller (BYMC) and a steering yaw motion controller (SYMC). A BYMC uses an inner rear-wheel braking pressure controller, while an SYMC uses a rear-wheel steering controller. However, neither device can entirely ensure the safety of a vehicle because of the load transfer from the rear to front wheels during braking. Therefore, an enhanced braking yaw motion controller (EBYMC) and an enhanced steering yaw motion controller (ESYMC) are developed, which contain additional outer front-wheel controllers. The performances of the EBYMC and ESYMC are evaluated for various road conditions and steering inputs. They reduce the slip angle and eliminate variation in the lateral acceleration, which increase the controllability, stability, and comfort of the vehicle. A non-linear observer and driver model also produce satisfactory results.

Analysis of Vehicle Lateral Response During Regenerative Braking in a Turn

2016 ◽  
Author(s):  
C. S. Nanda Kumar ◽  
Shankar C. Subramanian
Keyword(s):  
Rear Wheel ◽  
Front Wheel ◽  
Lateral Acceleration ◽  
Regenerative Braking ◽  
Steering Wheel ◽  
Slip Angle ◽  
Lateral Response ◽  
Wheel Drive ◽  
Reference Track ◽  
The Impact

Regenerative braking is applied only at the driven wheels in electric and hybrid vehicles. The presence of brake force only at the driven wheels reduces the lateral traction limit of the corresponding tires. This impacts the vehicle lateral response, particularly while applying the regenerative brake in a turn. In this paper, a detailed study was made on the impact of regenerative brake on the vehicle lateral response in front wheel drive and rear wheel drive configurations on dry and wet asphalt road surfaces. Simulations were done considering a typical set of vehicle parameters with the IPG CarMaker® software for different drive conditions and braking configurations along the same reference track. The steering wheel angle, yaw rate, lateral acceleration, vehicle slip angle, and tire forces were obtained. Further, they were compared against the conventional all wheel friction brake configuration. The regenerative braking configuration that had the most impact on vehicle lateral response was analyzed and response variations were quantified.

Study of Electricity Powered Four-Wheel Steering System Based on Fuzzy Neural Network

2014 ◽  
Vol 716-717 ◽  
pp. 1494-1499
Author(s):  
Wei Dong Li ◽  
Yi Zhang
Keyword(s):  
Neural Network ◽  
Fuzzy Neural Network ◽  
Steering System ◽  
Front Wheel ◽  
Slip Angle ◽  
Self Healing ◽  
Side Slip Angle ◽  
The Neural Network ◽  
Fuzzy Neural ◽  
Non Linear System

By the analysis of the operational principle of electricity powered four-wheel steering system, a new system based on the fuzzy neural network. Since this is a complex multivariate and non-linear system, by making use of the characteristics of fuzzy control and the neural network, a fuzzy neural network can be established. The speed of car and front-wheel steering angle being the input and steering model being the output, the side-slip angle of the in the process of steering can be control to zero. At last, by emulating this system with the software Matlab/Simulink, it shows that self-healing control technology can effectively control the side-slip angle and improve the motility and stability of a car.

Vehicle Braking Stability Analysis in Turn Condition

2014 ◽  
Vol 607 ◽  
pp. 604-607 ◽  
Author(s):  
Ling Zhao
Keyword(s):  
Stability Analysis ◽  
Dynamic Model ◽  
Load Transfer ◽  
Rear Wheel ◽  
Front Wheel ◽  
Vertical Load ◽  
Steering Angle ◽  
Braking Distance ◽  
Simulation Results

Considering the influence of wheel vertical load transfer and Steering angle, the paper establishes a dynamic model of 7 degrees freedom for vehicle under Braking in Turn Condition. Based on this model, wheel lock braking and ABS braking were researched and simulated. The simulation results show directly that first lock of front wheel loses vehicle steering performance, first lock the rear wheel sideslips, ABS braking can prevent loss of vehicle steering performance and sideslip, but slightly long braking distance.

A study on an anti-lock braking system controller and rear-wheel controller to enhance vehicle lateral stability

2007 ◽  
Vol 221 (7) ◽  
pp. 777-787 ◽  
Author(s):  
Jeonghoon Song ◽  
Heungseob Kim ◽  
Kwangsuck Boo
Keyword(s):  
Sliding Mode ◽  
Dynamic Performance ◽  
Rear Wheel ◽  
Slip Angle ◽  
Lateral Stability ◽  
Motion Controller ◽  
Wheel Slip ◽  
Stopping Distance ◽  
Braking System ◽  
The Stability

This paper presents a mathematical vehicle model that is designed to analyse and improve the dynamic performance of a vehicle. A wheel slip controller for anti-lock braking system (ABS) brakes is formulated using a sliding mode controller and a proportional-integral-derivative (PID) controller for rear wheel steering is also designed to enhance the stability, steerability, and driveability of the vehicle during transient manoeuvres. The braking and steering performances of controllers are evaluated for various driving conditions, such as straight and J-turn manoeuvres. The simulation results show that the proposed full car model is sufficient to predict vehicle responses accurately. The developed ABS reduces the stopping distance and increases the longitudinal and lateral stability of both two-and four-wheel steering vehicles. The results also demonstrate that the use of a rear wheel controller as a yaw motion controller can increase its lateral stability and reduce the slip angle at high speeds.

PID and Velocity Feedback Control for ABS Based on Wheel Slip

2015 ◽  
Vol 733 ◽  
pp. 758-762 ◽  
Author(s):  
Wei Zhang ◽  
Guan Neng Xu ◽  
Xue Xun Guo ◽  
Wen Zhang ◽  
Bin Wang ◽  
...  
Keyword(s):  
Feedback Control ◽  
Pid Control ◽  
Slip Rate ◽  
Hardware In The Loop ◽  
Wheel Slip ◽  
Velocity Feedback ◽  
Road Condition ◽  
Braking Distance ◽  
Stable Control ◽  
Controlled Object

PID control and the velocity feedback control for ABS are studied of the wheel slip rate as controlled object. Comparison on these two kinds of control methods is analyzed. It is obtained that velocity feedback control and PID control exist much similarity in some extent, according to the hardware in the loop (HIL) simulation platform. However, the velocity feedback control has more obvious advantages than PID control in terms of the adaptability to different road conditions. It can maintain stable control of system dynamically under the changed road condition, leading to the braking distance shorter.

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