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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(5):657-683
The design of the integrated active front steering and active differential control for handling improvement of road vehicles is undertaken. The controller design algorithm is based on the solution of a set of linear matrix inequalities that guarantee robustness against a number of vehicle parameters such as speed, cornering and braking stiffnesses. Vehicle plane dynamics are first expressed in the generic linear parameter-varying form, where the above-stated parameters are treated as interval uncertainties. Then, static-state feedback controllers ensuring robust performance against changing road conditions are designed. In a first series of simulations, the performance of the integrated controller is evaluated for a fishhook manoeuvre for different values of road adhesion coefficient. Then, the controller is tested for an emergency braking manoeuvre executed on a split-μ road. In all cases, it is shown that static-state feedback controllers designed by the proposed method can achieve remarkable road handling performance compared with uncontrolled vehicles. 相似文献
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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(10):1494-1529
ABSTRACTIn this paper, a coordinated control strategy is proposed to provide an effective improvement in handling stability of the vehicle, safety, and comfortable ride for passengers. This control strategy is based on the coordination among active steering, differential braking, and active suspension systems. Two families of controllers are used for this purpose, which are the high order sliding mode and the backstepping controllers. The control strategy was tested on a full nonlinear vehicle model in the environment of MATLAB/Simulink. Rollover avoidance and yaw stability control constraints have been considered. The control system mainly focuses on yaw stability control. When rollover risk is detected, the proposed strategy controls the roll dynamics to decrease rollover propensity. Simulation results for two different critical driving scenarios, the first one is a double lane change and the other one is a J-turn manoeuvre, show the effectiveness of the coordination strategy in stabilising the vehicle, enhancing handling and reducing rollover propensity. 相似文献
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本文描述了17自由度汽车全工况操纵与制动过程动力学模型的建模,仿真与验证。该模型考虑了侧风,有无防抱系统,高速,变车速,双移线转变制动等各种极端工况,仿真结果与美国密执安大学的仿真结果十分吻合,证实了该算法与模型具有很好的精度。 相似文献
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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(5):529-546
A comparison between two different approaches to vehicle stability control is carried out, employing a robust non-parametric technique in the controller design. In particular, an enhanced internal model control strategy, together with a feedforward action and a suitably generated reference map, is employed for the control of a vehicle equipped either with a rear wheel steering (RWS) system or with a rear active differential (RAD) device. The uncertainty arising from the wide range of operating conditions is described by an additive model set employed in the controller design. Extensive steady state and transient tests simulated with an accurate 14 degrees of freedom nonlinear model of the considered vehicle show that both systems are able to improve handling and safety in normal driving conditions. RAD devices can make the vehicle reach higher lateral acceleration values but they achieve only slight stability improvements against oversteer. On the other hand, 4WS systems can greatly improve both vehicle safety and manoeuvrability in all driving situations, making this device an interesting and powerful stability system. 相似文献
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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(12):1551-1564
This article presents two design strategies for an active rear wheel steering control system. The first method is a standard design procedure based on the well-known single track model. The aim of the feedback loop is to track a reference yaw rate in order to improve the handling behaviour. Unfortunately, a reasonable specification of the reference yaw rate proves to be a nontrivial task. A second approach avoids this drawback. The structure of the controller is regarded as a virtual mass-spring-damper system with adjustable parameters. Due to the high abstraction level of this method, the controller parameters can be tuned intuitively. Experiments with a prototype vehicle illustrate the effectiveness of the two proposed methodologies. 相似文献
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Mirko Čorić Joško Deur Josip Kasać H. Eric Tseng Davor Hrovat 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2016,54(11):1574-1600
Active suspension is commonly considered under the framework of vertical vehicle dynamics control aimed at improvements in ride comfort. This paper uses a collocation-type control variable optimisation tool to investigate to which extent the fully active suspension (FAS) application can be broaden to the task of vehicle handling/cornering control. The optimisation approach is firstly applied to solely FAS actuator configurations and three types of double lane-change manoeuvres. The obtained optimisation results are used to gain insights into different control mechanisms that are used by FAS to improve the handling performance in terms of path following error reduction. For the same manoeuvres the FAS performance is compared with the performance of different active steering and active differential actuators. The optimisation study is finally extended to combined FAS and active front- and/or rear-steering configurations to investigate if they can use their complementary control authorities (over the vertical and lateral vehicle dynamics, respectively) to further improve the handling performance. 相似文献
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Eman Mousavinejad Qing-Long Han Fuwen Yang Yong Zhu Ljubo Vlacic 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2017,55(2):268-294
An integrated vehicle dynamics control (IVDC) algorithm, developed for improving vehicle handling and stability under critical lateral motions, is discussed in this paper. The IVDC system utilises integral and nonsingular fast terminal sliding mode (NFTSM) control strategies and coordinates active front steering (AFS) and direct yaw moment control (DYC) systems. When the vehicle is in the normal driving situation, the AFS system provides handling enhancement. If the vehicle reaches its handling limit, both AFS and DYC are then integrated to ensure the vehicle stability. The major contribution of this paper is in improving the transient response of the vehicle yaw rate and sideslip angle tracking controllers by implementing advanced types of sliding mode strategies, namely integral terminal sliding mode and NFTSM, in the IVDC system. Simulation results demonstrate that the developed control algorithm for the IVDC system not only has strong robustness against uncertainties but also improves the transient response of the control system. 相似文献
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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(10):1539-1562
The paper deals with the bifurcation analysis of a rather simple model describing an automobile negotiating a curve. The mechanical model has two degrees of freedom and the related equations of motion contain the nonlinear tyre characteristics. Bifurcation analysis is adopted as the proper procedure for analysing steady-state cornering. Two independent parameters referring to running conditions, namely steering angle and speed, are varied. Ten different combinations of front and rear tyre characteristics (featuring understeer or oversteer automobiles) are considered for the bifurcation analysis. Many different dynamical behaviours of the model are obtained by slightly varying the parameters describing the tyre characteristics. Both simple and extremely complex bifurcations may occur. Homoclinic bifurcations, stable and unstable limit cycles (of considerable amplitude) are found, giving a sound and ultimate interpretation to some actual (rare but very dangerous) dynamic behaviours of automobiles, as reported by professional drivers. The presented results are cross-validated by exploiting handling diagram theory. The knowledge of the derived set of bifurcations is dramatically important to fully understand the actual vehicle yaw motions occurring while running on an even surface. Such a knowledge is a pre-requisite for robustly designing the chassis and for enhancing the active safety of vehicles. 相似文献
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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(11):1541-1562
This paper introduces the active third-axle system as an innovative vehicle dynamic control method. This method can be applicable for different kinds of three-axle vehicles such as buses, trucks, or even three-axle passenger cars. In this system, an actuator on the middle axle actively applies an independent force on the suspension to improve the handling characteristics, and hence, its technology is similar to slow-active suspension systems. This system can change the inherent vehicle dynamic characteristics, such as under/over steering behaviour, in the linear handling region, as well as vehicle stability in the nonlinear, limit handling region. In this paper, our main focus is to show the potential capabilities of this method in enhancing vehicle dynamic performance. For this purpose, as the first step, the proposed method in both linear and nonlinear vehicle handling regions is studied mathematically. Next, a comprehensive, nonlinear, 10 degrees of freedom vehicle model with a fuzzy control strategy is used to evaluate the effectiveness of this system. The dynamic behaviour of a vehicle, when either uncontrolled or equipped with the active third axle is then compared. Simulation results show that this active system can be considered as an innovative method for vehicle dynamic control. 相似文献
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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(5):675-697
This paper presents a closed-loop dynamic simulation-based design method for articulated heavy vehicles (AHVs) with active trailer steering (ATS) systems. AHVs have poor manoeuvrability at low speeds and exhibit low lateral stability at high speeds. From the design point of view, there exists a trade-off relationship between AHVs’ manoeuvrability and stability. For example, fewer articulation points and longer wheelbases will improve high-speed lateral stability, but they will degrade low-speed manoeuvrability. To tackle this conflicting design problem, a systematic method is proposed for the design of AHVs with ATS systems. In order to evaluate vehicle performance measures under a well-defined testing manoeuvre, a driver model is introduced and it ‘drivers’ the vehicle model to follow a prescribed route at a given speed. Considering the interactions between the mechanical trailer and the ATS system, the proposed design method simultaneously optimises the active design variables of the controllers and passive design variables of the trailer in a single design loop (SDL). Through the design optimisation of an ATS system for an AHV with a truck and a drawbar trailer combination, this SDL method is compared against a published two design loop method. The benchmark investigation shows that the former can determine better trade-off design solutions than those derived by the latter. This SDL method provides an effective approach to automatically implement the design synthesis of AHVs with ATS systems. 相似文献
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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(9):1171-1190
A methodology is presented in this work that employs the active inverted wings to enhance the road holding by increasing the downward force on the tyres. In the proposed active system, the angles of attack of the vehicle's wings are adjusted by using a real-time controller to increase the road holding and hence improve the vehicle handling. The handling of the race car and safety of the driver are two important concerns in the design of race cars. The handling of a vehicle depends on the dynamic capabilities of the vehicle and also the pneumatic tyres’ limitations. The vehicle side-slip angle, as a measure of the vehicle dynamic safety, should be narrowed into an acceptable range. This paper demonstrates that active inverted wings can provide noteworthy dynamic capabilities and enhance the safety features of race cars. Detailed analytical study and formulations of the race car nonlinear model with the airfoils are presented. Computer simulations are carried out to evaluate the performance of the proposed active aerodynamic system. 相似文献
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D. I. Katzourakis E. Velenis E. Holweg R. Happee 《International Journal of Automotive Technology》2014,15(1):151-163
Current vehicle dynamic control systems from simple yaw control to high-end active steering support systems are designed to primarily actuate on the vehicle itself, rather than stimulate the driver to adapt his/her inputs for better vehicle control. The driver though dictates the vehicle’s motion, and centralizing him/her in the control loop is hypothesized to promote safety and driving pleasure. Exploring the above statement, the goal of this study is to develop and evaluate a haptic steering support when driving near the vehicle’s handling limits (Haptic Support Near the Limits; HSNL). The support aims to promote the driver’s perception of the vehicle’s behaviour and handling capacity (the vehicle’s internal model) by providing haptic (torque) cues on the steering wheel. The HSNL has been evaluated in (a) driving simulator tests and (b) tests with a vehicle (Opel Astra G/B) equipped with a variable steering feedback torque system. Drivers attempted to achieve maximum velocity while trying to retain control in a circular skid-pad. In the simulator (a) 25 subjects drove a vehicle model parameterised as the Astra on a dry skid-pad while in (b) 17 subjects drove the real Astra on a wet skid-pad. Both the driving simulator and the real vehicle tests led to the conclusion that the HSNL assisted subjects to drive closer to the designated path while achieving effectively the same speed. With the HSNL the drivers operated the tires in smaller slip angles and hence avoided saturation of the front wheels’ lateral forces and excessive understeer. Finally, the HSNL reduced their mental and physical demand. 相似文献
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Synthesis of a Model-Based Tire Slip Controller 总被引:3,自引:0,他引:3
Stefan Solyom Anders Rantzer Jens LÜ demann 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2004,41(6):475-499
The Anti-lock Braking System is an important component of the steering system in a modern car. In the latest generation of brake-by-wire systems, the performance requirements on the ABS are much higher. The controllers have to be able to maintain a specified tire slip for each wheel during braking. The authors propose a design model and based on that a gain-scheduled controller that regulates the tire-slip. Simulation and test results are presented. 相似文献
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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(6):475-499
The Anti-lock Braking System is an important component of the steering system in a modern car. In the latest generation of brake-by-wire systems, the performance requirements on the ABS are much higher. The controllers have to be able to maintain a specified tire slip for each wheel during braking. The authors propose a design model and based on that a gain-scheduled controller that regulates the tire-slip. Simulation and test results are presented. 相似文献
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《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2012,50(9):1247-1268
This paper presents a lateral driver model for vehicle–driver closed-loop simulation at the limits of handling. An appropriate driver model can be used to evaluate the performance of vehicle chassis control systems via computer simulations before vehicle tests which incurs expenses especially at the limits of handling. The driver model consists of two parts. The first part is an upper-level controller employing force-based approach to reduce the number of unknown vehicle parameters. The feedforward part of the upper controller has been designed by using the centre of percussion. The feedback part aims to minimise ‘tangential error’, defined as the sum of body slip angle and yaw error, to match vehicle direction and road heading angle. The part is designed to regenerate an appropriate skid motion similar to that of a professional driver at the limits. The second part is a lower-level controller which converts the desired front lateral force to steering wheel angle. The lower-level controller also consists of feedforward and feedback parts. A two-degree-of-freedom bicycle model-based feedforward part provides nominal steering wheel angle, and the feedback part aims to eliminate unmodelled error. The performance of the lateral driver model has been investigated via computer simulations. It has been shown that the steering behaviours of the proposed driver model are quite close to those of a professional driver at the limits. Compared with the previously developed lateral driver models, the proposed lateral driver model shows good tracking performance at the limits of handling. 相似文献