Road vehicle rollover prevention torque vectoring via model predictive control
作者单位：Dept.of Control Science & EngineeringTongji University School of EngineeringUniversity of Lincoln
会议名称：《第36届中国控制会议》
会议日期：2017年
学科分类：08[工学] 082304[工学-载运工具运用工程] 080204[工学-车辆工程] 0802[工学-机械工程] 0823[工学-交通运输工程]
基 金：supported by the High-end Foreign Experts Program of China
关 键 词：Rollover Prevention Model Predictive Control ESC Torque Vectoring
摘 要：Conventional electronic stability control(ESC) system uses differential braking to stabilize the yaw rate and side slip of the vehicle *** the roll stability is critically important,it is absent from the current ESC *** this paper,an model predictive control(MPC) scheme is proposed that potentially can achieve both yaw stability and roll *** objective of the proposed MPC algorithm is to track a reference yaw rate and body side slip angle,which serves the purpose of yaw stability ***,a rollover prevention constraint is imposed to achieve roll *** MPC optimizes the vehicle dynamics by stabilizing the yaw motion while observing the rollover prevention constraint,hence the yaw and roll stability can be achieved ***,it is found that the optimization results from MPC intentionally introducing larger slip angles into the system to avoid rollover,which is a somewhat counter-intuitive action.A high fidelity heavy-duty truck model from TruckSim is used for simulations and the effectiveness of the proposed approach is demonstrated by the TruckSim and Simulink joint simulations.