Simulation Results from a Model of a Tractor Trailer Vehicle Equipped with Roll Stability Control

This paper deals with a new state-constrained control (SCC) system of vehicle, which includes a multi-layer controller, in order to ensure the vehicle’s lateral stability and steering performance under complex environment. In this system, a new constraint control strategy with input and state constraints is applied to calculate the steady-state yaw moment. It ensures the vehicle lateral stability by tracking the desired yaw rate value and limiting the allowable range of the side slip. Through the linkage of the three-layer controller, the tire load is optimized and achieve minimal vehicle velocity reduction. The seven-degree-of-freedom (7-DOF) simulation model was established and simulated in MATLAB to evaluate the effect of the proposed controller. Through the analysis of the simulation results, compared with the traditional ESC and integrated control, it not only solves the problem of obvious velocity reduction, but also solves the problem of high cost and high hardware requirements in integrated control. The simulation results show that designed control system has better performance of path tracking and driving state, which is closer to the desired value. Through hardware-in-the-loop (HIL) practical experiments in two typical driving conditions, the effectiveness of the above proposed control system is further verified, which can improve the lateral stability and maneuverability of the vehicle.

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Mixed H∞/H2 Output Feedback Stability Control for Dual-Motor Independent Drive Electric Vehicle

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.658.602 ◽

2013 ◽

Vol 658 ◽

pp. 602-608 ◽

Cited By ~ 1

Author(s):

Cheng Lin ◽

Chun Lei Peng

Keyword(s):

Electric Vehicle ◽

Output Feedback ◽

Stability Control ◽

Vehicle Stability ◽

Robust Performance ◽

Output Feedback Controller ◽

Vehicle Stability Control ◽

Feedback Stability ◽

Simulation Results ◽

Yaw Moment

This paper presents the design of mixed H∞/H2Output Feedback Controller for Independent Drive Electric Vehicle Stability Control. It generates yaw moment by applying driving intervention at front Independent driving wheels according to the vehicle states. The performance of the proposed controller is evaluated through a series of simulations under different velocity and different mass. The simulation results show that the controller can help vehicle against a certain range of uncertainty (speeds and loads) and get excellent robust performance.

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Coordinated Stability Control Strategy for Intelligent Electric Vehicles Using Vague Set Theory

Mathematical Problems in Engineering ◽

10.1155/2020/6793821 ◽

2020 ◽

Vol 2020 ◽

pp. 1-17

Author(s):

Yilin He ◽

Jian Ma ◽

Xuan Zhao ◽

Ruoyang Song ◽

Xiaodong Liu ◽

...

Keyword(s):

Electric Vehicles ◽

Control Strategy ◽

Coordinated Control ◽

Stability Control ◽

Lateral Acceleration ◽

Vague Set ◽

Yaw Rate ◽

Stability Performance ◽

Control Target ◽

Simulation Results

Aiming at improving the tracking stability performance for intelligent electric vehicles, a novel stability coordinated control strategy based on preview characteristics is proposed in this paper. Firstly, the traditional stability control target is introduced with the two degrees of freedom model, which is realized by the sliding mode control strategy. Secondly, an auxiliary control target further amending the former one with the innovation formulation of the preview characteristics is established. At last, a multiple purpose Vague set leverages the contribution of the traditional target and the auxiliary preview target in various vehicle states. The proposed coordinated control strategy is analyzed on the MATLAB/CarSim simulation platform and verified on an intelligent electric vehicle established with A&D5435 rapid prototyping experiment platform. Simulation and experimental results indicate that the proposed control strategy based on preview characteristics can effectively improve the tracking stability performance of intelligent electric vehicles. In the double lane change simulation, the peak value of sideslip angle, yaw rate, and lateral acceleration of the vehicle is reduced by 13.2%, 11.4%, and 8.9% compared with traditional control strategy. The average deviations between the experimental and simulation results of yaw rate, lateral acceleration, and steering wheel angle are less than 10% at different speeds, which demonstrates the consistency between the experimental and the simulation results.

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Research on Generator Tripping Value of Security and Stability Control

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.494-495.1795 ◽

2014 ◽

Vol 494-495 ◽

pp. 1795-1800

Author(s):

Hui Ping Zheng ◽

Yu Long Yang ◽

Shu Yong Song ◽

Xin Yuan Liu ◽

Min Xue ◽

...

Keyword(s):

Steady State ◽

Theoretical Analysis ◽

Transmission Line ◽

Stability Limit ◽

Stability Control ◽

Control Measures ◽

Equal Area ◽

Simulation Results ◽

Steady State Stability

In this paper, the problem of the excessive generator tripping value of security and stability control after occurrence of the N-2 fault in the Shentou-Yantong transmission line of Shanxi DaTong Regional grid is studied. And the principle of security and stability control measures based on equal area criterion is analyzed. The reason leading to excessive generator-tripping value of security and stability control after the occurrence of the N-2 fault in Shentou-Yantong region is figured out, and it is that the steady-state stability limit of transmission section decreases and the accelerator power cannot be released. Finally, the results of theoretical analysis are verified by simulations. The simulation results indicate that too large generator-tripping value of security and stability control is mainly caused by decrease of the steady-state stability limit of the transmission section after occurrence of the fault in Datong. The conclusions in the paper have referential significance for the study on similar power concentrated send-out systems.

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Control Law and Simulation Analysis of Vertical Take-Off and Landing Stage of Tilt Rotor Aircraft

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.1082.521 ◽

2014 ◽

Vol 1082 ◽

pp. 521-524

Author(s):

Yuan Qi Zhang ◽

Wei Ping Zhao ◽

Song Xiang

Keyword(s):

Genetic Algorithm ◽

Pid Controller ◽

Simulation Analysis ◽

Stability Control ◽

Control Law ◽

Control Effect ◽

Tilt Rotor ◽

Optimization Simulation ◽

Simulation Results ◽

Aircraft System

This paper utilized the genetic algorithm to optimize the PID controller of vertical take-off and landing stage of tilt rotor aircraft. According to the features of stability control of vertical take-off and landing stage of tilt rotor aircraft, system ascend time, steady error, and weighted overshoot are chosen as objective function of optimization. Simulation results show that PID controller designed by the genetic algorithm possess the excellent flexibility, adaptability and can produce the better control effect.

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An Adaptive Nonsingular Fast Terminal Sliding Mode Control for Yaw Stability Control of Bus Based on STI Tire Model

Chinese Journal of Mechanical Engineering ◽

10.1186/s10033-021-00600-4 ◽

2021 ◽

Vol 34 (1) ◽

Cited By ~ 1

Author(s):

Xiaoqiang Sun ◽

Yujun Wang ◽

Yingfeng Cai ◽

Pak Kin Wong ◽

Long Chen

Keyword(s):

Optimal Allocation ◽

Sliding Mode ◽

Design Method ◽

Longitudinal Force ◽

Stability Control ◽

Tire Model ◽

Terminal Sliding Mode ◽

Fast Terminal Sliding Mode ◽

Yaw Stability ◽

Simulation Results

AbstractDue to the bus characteristics of large quality, high center of gravity and narrow wheelbase, the research of its yaw stability control (YSC) system has become the focus in the field of vehicle system dynamics. However, the tire nonlinear mechanical properties and the effectiveness of the YSC control system are not considered carefully in the current research. In this paper, a novel adaptive nonsingular fast terminal sliding mode (ANFTSM) control scheme for YSC is proposed to improve the bus curve driving stability and safety on slippery roads. Firstly, the STI (Systems Technologies Inc.) tire model, which can effectively reflect the nonlinear coupling relationship between the tire longitudinal force and lateral force, is established based on experimental data and firstly adopted in the bus YSC system design. On this basis, a more accurate bus lateral dynamics model is built and a novel YSC strategy based on ANFTSM, which has the merits of fast transient response, finite time convergence and high robustness against uncertainties and external disturbances, is designed. Thirdly, to solve the optimal allocation problem of the tire forces, whose objective is to achieve the desired direct yaw moment through the effective distribution of the brake force of each tire, the robust least-squares allocation method is adopted. To verify the feasibility, effectiveness and practicality of the proposed bus YSC approach, the TruckSim-Simulink co-simulation results are finally provided. The co-simulation results show that the lateral stability of bus under special driving conditions has been significantly improved. This research proposes a more effective design method for bus YSC system based on a more accurate tire model.

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Incubation Chamber Temperature Controller Design and Simulation

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.738-739.1003 ◽

2015 ◽

Vol 738-739 ◽

pp. 1003-1006

Author(s):

Zheng Jie Lu ◽

Yin Jun Zhang

Keyword(s):

Field Experiments ◽

Algorithm Design ◽

Stability Control ◽

System Response ◽

Practical Result ◽

Temperature Controller ◽

Incubation Chamber ◽

Control Precision ◽

Chamber Temperature ◽

Simulation Results

The traditional incubation chamber temperature PID control system has poor stability, control precision results are poor, not adjust the PID parameters and other issues, this paper presents a way to use Darling algorithm design incubation chamber temperature controller scheme, and introduced this system controller algorithm design steps, simulation results, and conducting field experiments. Simulation results show that the practical result table control method overshoot, settling time shortened, and can effectively improve system response speed and control precision.

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Controller Optimization of Quadrotor UAV

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.709.237 ◽

2014 ◽

Vol 709 ◽

pp. 237-240

Author(s):

Xin Zhao ◽

Wei Ping Zhao ◽

Song Xiang

Keyword(s):

Genetic Algorithm ◽

Steady State ◽

Pid Controller ◽

System Simulation ◽

Stability Control ◽

Control Model ◽

Lateral Stability ◽

Control Effect ◽

Quadrotor Uav ◽

Simulation Results

Adjusting method of traditional PID controller is complicated. The controller obtained by adjusting method of traditional PID may be not optimal. Therefore, present paper utilized the genetic algorithm to optimize the PID controller parameter of roll channel of quadrotor UAV. According to the feature of lateral stability control model of quadrotor UAV, ascend time of system, steady state error, and weighted overshoot are chosen as objective function. In order to obtain the better control effect, penalty function is used to limit the oscillation of system. Simulation results show that PID controller designed by the genetic algorithm possess the excellent flexibility, adaptability and can produce the better control effect.

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Application of Backstepping Stability Control in the Diffusion Process

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.791-793.704 ◽

2013 ◽

Vol 791-793 ◽

pp. 704-709

Author(s):

Xiang Zhang

Keyword(s):

Carbon Fiber ◽

Kernel Function ◽

Stability Control ◽

Open Loop ◽

Diffusion Reaction ◽

Static System ◽

Forming Process ◽

Loop Control ◽

Boundary Feedback ◽

Simulation Results

In this paper, 1-D mathematical model of the coagulation process of the polyacrylonitrile (PAN) carbon fiber is established using Fick diffusion law. Boundary stabilization for a linear parabolic diffusion-reaction partial differential equation (PDE) is considered. We use the method of backstepping to implement the boundary control of the concentration diffusion in the forming process of carbon fiber. By using the coordinate transformation, we transform the original system to a standard static system. The transformation depends on a so called gain kernel function, and we can design the boundary feedback controller using the kernel function. For the model in this paper, the kernel function itself is a hyperbolic PDE, and there is no explicit formation. Therefore, we use numerical methods to obtain the kernel function, and give the simulation results for the closed-loop control response. The simulation results show that the open-loop unstable system is stabilized by a boundary feedback.

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An Approach on Velocity and Stability Control of a Two-Wheeled Robotic Wheelchair

Applied Sciences ◽

10.3390/app10186446 ◽

2020 ◽

Vol 10 (18) ◽

pp. 6446 ◽

Cited By ~ 1

Author(s):

Mostafa Nikpour ◽

Loulin Huang ◽

Ahmed M. Al-Jumaily

Keyword(s):

Sliding Mode ◽

Stability Control ◽

Main Function ◽

Velocity Control ◽

Control Approach ◽

Power Simulation ◽

Simulation Results ◽

Robotic Wheelchairs ◽

Driving Torque ◽

Robotic Wheelchair

Conventional robotic wheelchairs (three or four-wheeled) which are statically stable are poor in mobility. Though a two-wheeled robotic wheelchair has better mobility, it is not statically stable and needs an active stability controller. In addition to mobility and stability, velocity control is also important for the operation of a wheelchair. Conventional stability and velocity controllers rely on the motion of the wheels and require high driving torque and power. In this paper, this problem is tackled by adding a compact pendulum-like movable mechanism whose main function is for stability control. Its motion and those of the wheels are controlled through a quasi-sliding mode control approach to achieve a simultaneous velocity and stability control with much less driving torque and power. Simulation results are presented to show the effectiveness of the proposed controller.

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