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Single-point preview driver and non-linear tyre model-based direct yaw moment control method for vehicles 36

Single-point preview driver and non-linear tyre model-based ...

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第36届中国控制会议

作者： Guoqiang Huang Weida Wang Wenjun Chen Long He School of Mechanical Engineering Beijing Institute of Technology The Fourth Branch Company Inner Mongolia First Machinery Group Co.Ltd PLA Military Economics Academy

ISBN: (纸本)9781538629185

Vehicle direct yaw moment control can significantly improve vehicle driving stability and *** closed-loop simulation of man-vehicle-road based on the driver model is valuable for the evaluation of control *** this paper,the co-simulation method based on the single-point preview driver model and veDYNA dynamics software is studied.A direct yaw moment control algorithm based on sliding-mode variable structure control theory is proposed,and the Dugoff tyre model is *** on the non-linear tyre model,the target slip rate is *** simulated test of the single-shift line condition on a high-,and low-adhesion road was carried out by MATLAB

关键词： direct yaw-moment control driver model single-point preview slide mode control non-linear tyre model

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Research on Adaptive Fault-Tolerant control for Manned Lunar Rover

Research on Adaptive Fault-Tolerant Control for Manned Lunar...

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第43届中国控制会议

作者： Zhouyuan Qian Tao Cao Tao Hu Hao Cheng Bo Zheng Shanghai Aerospace control Technology Institute Shanghai Key Laboratory of Aerospace Intelligent control Technology

Since the lunar terrain conditions are very hummocky,there is a risk of simultaneous failure of multiple drive motors and steering motors for manned lunar rover throughout the *** adaptive fault-tolerant control method based on direct yaw-moment control is proposed to ensure that the rover can still drive stably and accomplish the detection mission despite multi-motor *** method adopts a hierarchical control architecture,where the upper layer solves the vehicle's yaw moment demand based on the astronaut's driving intention and vehicle condition,and the lower layer carries out torque allocation by introducing failure factor to represent the motor failure ***,the objective function is designed by combining longitudinal drive control,yaw moment control and tire load rate control,and is adjusted by slip rate to restrain tire *** the joint simulation experiments,the effectiveness of the proposed method is *** results show that the driving stability and vehicle maneuverability are guaranteed even in the event of multi-motor failures.

关键词： Manned lunar rover fault-tolerant control direct yaw-moment control stability control

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Development of a New Approach to Integrated control of DYC/ARS Based on Fuzzy Logic

Development of a New Approach to Integrated Control of DYC/A...

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2005国际机械工程与力学会议

作者： Reza KARBALAEI Reza KAZEMI Ali GHAFFARI S.Hamed TABATABAEI Department of Mechanical Engineering Azad University South Branch of Tehran

An integrated vehicle dynamics control system by coordinating active rear steering （ARS） and direct yaw-moment control （DYC） based on a new concept is developed in this paper. The control system has a hierarchical structure and consists of two controlling layers. A fuzzy logic controller is used in the upper layer （yaw rate controller） to keep the yaw rate in its desired value. The yaw rate error and its rate of change are applied to the upper controlling layer as inputs, where the direct yaw moment control signal and the steering angle of the rear wheels are built as the outputs. In the lower layer （fuzzy integrator）, a fuzzy logic controller is designed based on the working region of the lateral tire forces. In the next stage, taking into consideration the direction of lateral forces in the rear wheels, a switching function is introduced and utilizes in fuzzy integrator. The characteristics of the integrated control system are analyzed using Matlab/Simulink and a series of comparisons are made with the system without control and the DYC/ARS ＆ DYC systems. The simulation results by using of nonlinear seven degrees of freedom vehicle model illustrate that considerable improvements are achieved in vehicle handling and driving dynamics through the integrated DYC/ARS control system in comparison with the individual DYC controller.

关键词： Active rear steering direct yaw-moment control Fuzzy logic controller Fuzzy integrator

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