An Integrated Approach for Yaw Stability of Linear Time Varying Bicycle Model Utilizing Adaptive Model Predictive Control (original) (raw)
Related papers
IFAC World Congress, …, 2005
Yaw stability control is an important aspect of road vehicle active safety and comfort systems. Yaw stability control can be based on steering or individual wheel braking as the means of actuation for generating the required corrective yaw moments. This paper uses a model regulator based yaw stability controller that combines and coordinates steering and individual wheel braking for improved performance. The key contribution of the paper is the application of this combined actuation controller to a realistic road vehicle model created in a commonly used multi-body dynamics simulation program. The performance achieved by the proposed controller is demonstrated through several simulations.
Towards predictive yaw stability control
2009
In this paper the possibility to predict vehicle control loss using information about the host vehicles states and the road ahead is investigated. An introduction to conventional yaw stability control is presented and a threat assessment algorithm is proposed that can be used in an active safety system to e.g either issue earlier yaw control interventions or completely autonomous maneuvers in order to keep the vehicle on the road. In addition an experimental assessment in which a vehicle equipped with yaw stability control is driven on a test track is presented. It is shown that it is possible to predict powerful understeer situations if the future geometrical path of the vehicle is known.
Vehicle Pure Yaw Moment control using differential tire slip
2009 American Control Conference, 2009
Direct yaw moment control generated by differential friction forces on an axle has been proved to be effective in improving vehicle lateral yaw stability and in enhancing handling performance. It consists of two levels of control tasks: calculating a yaw moment command at vehicle level and regulating the tire slip to deliver the moment at wheel level. Advanced powertrain with electrical in-wheel-motor makes fast wheel level control possible. This paper proposes an adaptive tire slip controller for Pure Yaw Moment Generation, which yields the maximal axle yaw moment by asymmetric axle friction force with no effect on vehicle longitudinal speed. Since the maximal friction is limited by the tire-road contact, control constraints at various vehicle speeds and on different surface conditions has to be taken into account. This algorithm can generate the optimal longitudinal slip ratio at the presence of lateraltireforcebasedona2DModified-LuGre tire model. One major difficulty of such type controllers is the unknown surface condition. A nonlinear adaptive braking/traction torque control is proposed to regulate the tire slip ratio with the estimation of surface condition. Simulation studies show that feeding back the estimate into the slip control makes the delivered friction force and yaw moment adaptive to surface conditions.
An intelligent approach to the lateral forces usage in controlling the vehicle yaw rate
Asian Journal of Control, 2011
A direct yaw moment control system (DYC) is designed to improve the handling and stability of a four-wheel-drive electric vehicle. The main task of this paper is to use the lateral forces in the process of optimally controlling vehicle stability. This is performed by defining a variable optimum region for the slip ratio of each wheel. A hierarchical structure is selected to design the control system. The higher-level control system controls the yaw rate of the vehicle based on the fuzzy logic technique. The lower-level control system, installed in each wheel, maintains the slip ratio of the same wheel within an optimum region using the fuzzy logic technique. This optimum region for each wheel is continuously modified based on the impact of the lateral force on the generated control yaw moment and the friction coefficient of the road. Therefore, an algorithm for estimation of the friction coefficient is proposed. Computer simulations are carried out to investigate the effectiveness of the proposed method. This is accomplished by comparison of the results of control methods with a fixed slip ratio region and the results of the proposed method with a variable slip ratio region in some maneuvers. The robustness of the proposed controller against hard braking and noise contamination, as well as the effect of steering wheel angle amplitude, is verified. The simulation results show that the influence of the proposed method on enhancing vehicle performance is significant.
Fuzzy logic based yaw stability control for active front steering of a vehicle
Journal of Mechanical Science and Technology, 2014
Yaw stability control is an important consideration for improving the stability and handling behavior of a vehicle during extreme steering maneuvers. This paper proposes a fuzzy logic based yaw stability controller for an active front steering of a four-wheeled road vehicle by using steer-by-wire system. The proposed control system takes the yaw rate error, the steering angle given by the driver and the vehicle body side slip angle as inputs, for calculating the additional steering angle as output for stabilizing the yaw moment of the vehicle. A three degrees-of-freedom vehicle model is considered. Performance of the proposed system is simulated for sinusoidal, step maneuver using Matlab/Simulink tool, and the results are compared with the existing fuzzy control system which uses two inputs such steering angle and yaw rate. The simulation results show better performance of the proposed fuzzy based yaw controller as compared with the existing control system.
Vehicle Steering Dynamic Calculation and Simulation
International Journal of Innovative Technology and Interdisciplinary Sciences, 2018
This paper presents fundamental mathematical estimations of vehicle sideslip in stationary conditions regarding the influences of the vehicle parameters such as the tire stiffness, the position of gravity centre, the vehicle speed and the turning radius. The vehicle dynamics on steady state and transient responses are also investigated to see the effects of the yaw natural frequency and yaw damping rate on the steering system. Results from this study can be used in designing an automatic control of tracking vehicle in the future.
Design and simulation of an integrated active yaw control system for road vehicles
International Journal of Vehicle Design, 2010
Active vehicle safety systems for road vehicles play an important role in accident prevention. In recent years, rapid developments have been observed in this area with advancing technology and electronic control systems. Active yaw control is one of I would like to state my appreciation to Murat Şahin for his patient support and pleasant friendship, Emir Kutluay for his useful advises and company at every part of the study, Görkem Oktay and Hakan Temizsoy for their abundantly helpful and enjoyable attitude throughout this thesis. After all these years, I have got quite a bunch of friends in the department, which I cannot stop without stating my appreciation to all of them. Also, financial support of TÜBĐTAK is also gratefully acknowledged. My endless thankfulness goes to my friend Zeynep Erdoğan, who has stimulated and supported me with patience and wisdom. Without her, this study would never finish. My last, but not the least, thanks go to my valuable family. They have endlessly supported, guided and protected me in all stages of my life. I can never imagine a life without their love and dedication. x
Lane Change Maneuver of Virtual Heavy Vehicle Equipped with Yaw Moment Control
2016
The goal of this article is to present a method for preparing a virtual heavy commercial vehicle for the analysis of the right-left torque vectoring technology effect. Lateral torque vectoring systems are nowadays usually used in sports cars or in luxury personal cars to improve vehicle stability and handling performance. In this paper the heavy commercial vehicle equipped with the direct yaw moment control system is simulated by using the full vehicle ADAMS model
Penerbit UTM Press, 2017
Graphical abstract Abstract In this paper, Robust Composite Nonlinear Feedback (CNF) was implemented on Active Front Steering (AFS) vehicle system for yaw stability control. In this control system, the main objective is to get excellent transient response of vehicle yaw rate and at the same time resist to side wind disturbance. To cater unknown constant disturbance, non-integral function for Robust CNF version is used. Meanwhile for vehicle model, 7 degree of freedom vehicle body with Pacejka Tire formula model for typical passenger car is used to simulate controlled vehicle. The computer simulation by Matlab software is performed to evaluate the system performance in J-Turn and Single sine steer with magnitude from 1 to 3.1 degree with additional 400 Nm external side wind disturbance. By using typical Proportional Integration and Derivative (PID) control auto-tuned by Matlab as comparison, the new designed controller demonstrates higher capability to track reference signal faster and having minimal tracking error during disturbance occur where having less than 0.01 degree compared 0.22 degree by PID. The Robust CNF based designed control system is able to compensate disturbance effect efficiently and also has super-fast tracking as classical CNF.