Enhancing Rollover Prevention and Vehicle Stability of Heavy Vehicle under Disturbance Effect

2014 ◽  
Vol 695 ◽  
pp. 596-600
Author(s):  
Fitri Yakub ◽  
Yasuchika Mori
Keyword(s):  
Controller Design ◽  
Heavy Vehicle ◽  
Vehicle Stability ◽  
Vehicle Model ◽  
Rollover Prevention ◽  
System A ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Braking Control ◽  
Double Track

This study enhances the model predictive control for coordination of active rear steering and direct yaw moment control maneuvers for rollover prevention, lane change maneuver, and vehicle stability in heavy vehicle system under the influence of front steering angle as a disturbance to the system. A single-track mode of lateral-yaw motions based on a linearized vehicle model with linear tire characteristics is used for controller design, while the vehicle model used includes roll dynamic motion for the double-track model with a nonlinear tire model. We tested the vehicle at middle forward speed and we propose braking control algorithm based on left and right of rear wheels instead of front and rear wheels. The simulation results show the proposed coordinated control yielded better performance for rollover prevention, and also useful to maintain and enhance vehicle stability along the desired path, and has the ability to eliminate the effect of disturbance.

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.

Independent Torque Control of an Independent-Wheel-Drive Electric Vehicle

2014 ◽  
Vol 663 ◽  
pp. 493-497
Author(s):  
M.H.M. Ariff ◽  
Hairi Zamzuri ◽  
N.R.N. Idris ◽  
Saiful Amri Mazlan ◽  
M.A.M. Nordin
Keyword(s):  
Electric Vehicle ◽  
High Speed ◽  
Controller Design ◽  
Torque Control ◽  
Lateral Acceleration ◽  
Steering Control ◽  
Vehicle Handling ◽  
Direct Yaw Moment Control ◽  
Wheel Drive ◽  
Yaw Moment Control

This paper focuses on designing a controller to enhance the traction and handling of an Independent-Wheel-Drive Electric Vehicle (IWD-EV). It presents a traction torque distribution controller for an IWD-EV in order to maintain vehicle handling and stability during critical maneuvers. The proposed controller is based on the Direct Yaw-moment Control (DYC) and Active Front Steering control (AFS) which intended to increase the handling and stability of the vehicle respectively by applying the yaw rate and the lateral acceleration as the control variables. The performance of the controller is evaluated by numerical simulations of two standard high speed maneuvers which are the double lane change (DLC) and J-Curve. The proposed scheme presents a new controller design for IWD-EV which can effectively improved the vehicle handling and stability.

Study on Vehicle Stability Based on Coordinated Control of Direct Yaw Moment Control and Slip Rate Control

2012 ◽  
Vol 220-223 ◽  
pp. 597-600 ◽  
Author(s):  
Jun Wei Li ◽  
Guo Guang Zhang ◽  
Yu Hai Wang
Keyword(s):  
Rate Control ◽  
Lower Layer ◽  
Slip Rate ◽  
Coordinated Control ◽  
Vehicle Stability ◽  
Direct Yaw Moment Control ◽  
Yaw Moment Control ◽  
Moment Control ◽  
Yaw Moment ◽  
Layer Control

A coordinated control strategy based on Direct Yaw Moment Control (DYC) and slip rate control was proposed aiming at improving vehicle stability. The system was divided into two layers: an upper layer and a lower layer. DYC was the upper-layer control, which calculates the additional yaw moment exerted on the vehicle based on the working condition of the vehicle. A simplified arithmetic of transferring additional yaw moment to desired slip rate was adopted in order to achieve differential braking. Slip rate controller was the lower-layer control that exerts braking force on the braking wheels to achieve the desired slip rate and to achieve desired yaw moment.

Enhancing the yaw stability and the manoeuvrability of a heavy vehicle in difficult scenarios by an emergency threat avoidance manoeuvre

2016 ◽  
Vol 231 (5) ◽  
pp. 615-637 ◽  
Author(s):  
Fitri Yakub ◽  
Aminudin Abu ◽  
Yasuchika Mori
Keyword(s):  
Lane Change ◽  
Switching Model ◽  
Direct Yaw Moment Control ◽  
Yaw Stability ◽  
Yaw Moment Control ◽  
Predictive Controller ◽  
Moment Control ◽  
Threat Avoidance ◽  
Braking Control ◽  
The Stability

This study aims to investigate the switching model predictive control strategy for a heavy-vehicle system in order to coordinate the actuator between active rear steering and differential braking control manoeuvres for emergency threat avoidance in difficult environments. We present the controller performances for the lateral dynamic behaviour, the yaw stability and the manoeuvrability of a vehicle when subjected to a sudden threat or disturbance such as a gust of wind, a road bank angle or a split- μ road surface in order to enable a fast safe lane-change trajectory to be followed. The vehicle was driven at a medium forward speed and a high forward speed in order to investigate the effectiveness of the proposed approach in avoiding the threat, maintaining the stability and enablinge a fast safe lane-change trajectory to be followed. We compared two different controllers (a model predictive controller and a switching model predictive controller) for two different control manoeuvres (active rear steering with differential braking control and active rear steering with direct yaw moment control). The simulation results demonstrate that the proposed switching model predictive control method provides an improved fast safe lane-change manoeuvre in a threat avoidance scenario for both control manoeuvres. It also demonstrated that the proposed active rear steering with differential braking control is more useful for maintaining the stability of the vehicle in a threat avoidance scenario with disturbance effects than is active rear steering with direct yaw moment control.

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