Study on Fuzzy PI Control of Vehicle Yaw Moment Based on Optimal Allocation of Braking Forces

2014 ◽  
Vol 556-562 ◽  
pp. 2293-2296
Author(s):  
Gang Li ◽  
Hai Lan Han ◽  
Chao Wang ◽  
Gao Feng Ma
Keyword(s):  
Optimal Allocation ◽  
Control Method ◽  
Hierarchical Control ◽  
Pi Control ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Brake Force ◽  
Moment Control ◽  
Driving Stability ◽  
Yaw Moment

For vehicle direct yaw moment control (DYC) ,the additional yaw moment decision method based on the fuzzy PI control and optimal allocation method of yaw moment based on quadratic programming are studied. Yaw moment control adopts hierarchical control method.The fuzzy PI controller and brake force optimization distributor are designed. The control method is verified through the Matlab/Simulink and CarSim co-simulation experiment.The results show that the control method can make the vehicle track the expected value better and improve the driving stability effectively.

scholarly journals Integrated control performance of drive-by-wire independent drive electric vehicle

2019 ◽  
Vol 10 ◽  
pp. 16
Author(s):  
Ling Yu ◽  
Sunan Yuan
Keyword(s):  
Electric Vehicle ◽  
Control Method ◽  
Reference Model ◽  
Integrated Control ◽  
Vehicle Stability ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Moment Control ◽  
The Stability ◽  
Yaw Moment

In order to improve the stability and safety of vehicles, it is necessary to control them. In this study, the integrated control method of drive-by-wire independent drive electric vehicle was studied. Firstly, the reference model of electric vehicle was established. Then, an integrated control method of acceleration slip regulation (ARS) and direct yaw moment control (DYC) was designed for controlling the nonlinearity of tyre, and the simulation experiment was carried out under the environment of MATLAB/SIMULINK. The results showed that the vehicle lost its stability when it was uncontrolled; under the control of a single DYC controller, r and β values got some control, but the vehicle stability was still low; under the integrated control of ARS+DYC, the vehicle stability was significantly improved; under the integrated control method, the overshoot, regulation time and steady-state error of the system were all small. Under the simulation of extreme conditions, the integrated control method also showed excellent performance, which suggested the method was reliable. The experimental results suggests the effectiveness of the integrated control method, which makes some contributions to the further research of the integrated control of electric vehicles.

A New DYC Control Strategy Based on Feedforward Control in the Linear Region

2012 ◽  
Vol 442 ◽  
pp. 482-487
Author(s):  
Qi Dong Wang ◽  
He Huang ◽  
Wu Wei Chen
Keyword(s):  
Feedback Control ◽  
Control Method ◽  
Feedforward Control ◽  
Sliding Modes ◽  
Linear Region ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Yaw Moment ◽  
Control Output

This paper discussed a new direct yaw moment control(DYC) method which was coupled with feedforward control by utilizing the estimated cornering stiffness coeficients. Comparing two simultaneously running single track models in the linear region,the feedforward control output was produced. Higher-order sliding modes(HOSM) was used to ensure the robustness of the control system in the limit region. A weight gain was used to combined feedforward control and feedback control. The simulation results in VeDYNA show that this new DYC control method based on the knowledge of cornering stiffness significantly improve the vehicle desired trajectory over that of feedback control alone.

scholarly journals A novel assist-steering method with direct yaw moment for distributed-drive articulated heavy vehicle

2019 ◽  
Vol 234 (1) ◽  
pp. 214-224 ◽  
Author(s):  
Tao Xu ◽  
Xuewu Ji ◽  
Yanhua Shen
Keyword(s):  
Control Method ◽  
Steering System ◽  
Heavy Vehicles ◽  
Direct Yaw Moment Control ◽  
Hydraulic Steering ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Yaw Moment ◽  
Steering Methods

This paper presents a novel assist-steering method for distributed-drive articulated heavy vehicles (DAHVs) to reduce its dependency on hydraulic steering method and improve the pressure characteristics of hydraulic struts. The objective is to realise the electrification of steering process for DAHVs, which is the basis of unmanned design with more stable control in the following studies. The theory and purpose of the proposed assist-steering method in this paper distinguishes it from the traditional direct yaw-moment control method or assist-steering methods in the previous studies, which easily produce interference with hydraulic steering method in DAHVs during steering process. In this paper, an accurate vehicle model is developed along with the field test for its satisfactory verification. Meanwhile, with the decoupling analyses of two different effects of steering methods on vehicle steering process, the assist-steering method is developed. In order to show the advantages brought on by this method, a case study is performed and analyzed. The results demonstrate that this proposed method can reduce the pressure of hydraulic steering system to about 41.2% without any changes of steering process, which is limited by the drive ability of wheel-side motor. Moreover, the pressure of inlet chamber in hydraulic struts is always reduced to about 40%–60% without any changes of the pressure in outlet chamber, which can improve the working performance of hydraulic steering system.

The Stability Control of Individual Drive Electric Vehicle Based on Torque Distribution

2010 ◽  
Vol 29-32 ◽  
pp. 1991-1996
Author(s):  
Ju Wei Li ◽  
Xiao Lin Cui
Keyword(s):  
Control Method ◽  
Stability Control ◽  
Torque Distribution ◽  
Handling Performance ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Simulation Results ◽  
The Stability ◽  
Yaw Moment

A direct yaw moment control (DYC) method based on optimal predictive method is proposed to achieve an external yaw moment which is as low as possible. This control method calculates the necessary moment according the vehicle condition, and then optimizes the distribution of drive/brake torque to achieve the necessary yaw moment considering the constraints of actuators. The effectiveness of the designed controller is investigated by simulations. The simulation results indicate that a satisfactory handling performance can be achieved when the proposed controller is applied.

Innovative Active Vehicle Safety Using Integrated Stabilizer Pendulum and Direct Yaw Moment Control

2014 ◽  
Vol 136 (5) ◽  
Author(s):  
Avesta Goodarzi ◽  
Fereydoon Diba ◽  
Ebrahim Esmailzadeh
Keyword(s):  
Control System ◽  
Model Simulation ◽  
Dynamic Control ◽  
Superior Performance ◽  
Steering Control ◽  
Pendulum System ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Yaw Moment

Basically, there are two main techniques to control the vehicle yaw moment. First method is the indirect yaw moment control, which works on the basis of active steering control (ASC). The second one being the direct yaw moment control (DYC), which is based on either the differential braking or the torque vectoring. An innovative idea for the direct yaw moment control is introduced by using an active controller system to supervise the lateral dynamics of vehicle and perform as an active yaw moment control system, denoted as the stabilizer pendulum system (SPS). This idea has further been developed, analyzed, and implemented in a standalone direct yaw moment control system, as well as, in an integrated vehicle dynamic control system with a differential braking yaw moment controller. The effectiveness of SPS has been evaluated by model simulation, which illustrates its superior performance especially on low friction roads.

scholarly journals Comparison of Typical Controllers for Direct Yaw Moment Control Applied on an Electric Race Car

Vehicles ◽  
2021 ◽  
Vol 3 (1) ◽  
pp. 127-144
Author(s):  
Andoni Medina ◽  
Guillermo Bistue ◽  
Angel Rubio
Keyword(s):  
Handling Performance ◽  
Electric Cars ◽  
Control Techniques ◽  
Race Car ◽  
Yaw Rate ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Race Track ◽  
Yaw Moment

Direct Yaw Moment Control (DYC) is an effective way to alter the behaviour of electric cars with independent drives. Controlling the torque applied to each wheel can improve the handling performance of a vehicle making it safer and faster on a race track. The state-of-the-art literature covers the comparison of various controllers (PID, LPV, LQR, SMC, etc.) using ISO manoeuvres. However, a more advanced comparison of the important characteristics of the controllers’ performance is lacking, such as the robustness of the controllers under changes in the vehicle model, steering behaviour, use of the friction circle, and, ultimately, lap time on a track. In this study, we have compared the controllers according to some of the aforementioned parameters on a modelled race car. Interestingly, best lap times are not provided by perfect neutral or close-to-neutral behaviour of the vehicle, but rather by allowing certain deviations from the target yaw rate. In addition, a modified Proportional Integral Derivative (PID) controller showed that its performance is comparable to other more complex control techniques such as Model Predictive Control (MPC).

Integrated vehicle chassis control for active front steering and direct yaw moment control based on hierarchical structure

2018 ◽  
Vol 41 (9) ◽  
pp. 2428-2440 ◽  
Author(s):  
Jiaxu Zhang ◽  
Jing Li
Keyword(s):  
Sliding Mode ◽  
Null Space ◽  
Level Control ◽  
Direct Yaw Moment Control ◽  
Active Front Steering ◽  
Yaw Moment Control ◽  
Chassis Control ◽  
Moment Control ◽  
Vehicle Chassis ◽  
Yaw Moment

This paper presents an integrated vehicle chassis control (IVCC) strategy to improve vehicle handling and stability by coordinating active front steering (AFS) and direct yaw moment control (DYC) in a hierarchical way. In high-level control, the corrective yaw moment is calculated by the fast terminal sliding mode control (FTSMC) method, which may improve the transient response of the system, and a non-linear disturbance observer (NDO) is used to estimate and compensate for the model uncertainty and external disturbance to suppress the chattering of FTSMC. In low-level control, the null-space-based control reallocation method and inverse tyre model are utilized to transform the corrective yaw moment to the desired longitudinal slips and the steer angle increment of front wheels by considering the constraints of actuators and friction ellipse of each wheel. Finally, the performance of the proposed control strategy is verified through simulations of various manoeuvres based on vehicle dynamic software CarSim.

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