This work proposes a map-based control method to improve a vehicle's lateral stability, and the performance of the proposed method is compared with that of the conventional model-referenced control method. Model-r...This work proposes a map-based control method to improve a vehicle's lateral stability, and the performance of the proposed method is compared with that of the conventional model-referenced control method. Model-referenced control uses the sliding mode method to determine the compensated yaw moment; in contrast, the proposed map-based control uses the compensated yaw moment map acquired by vehicle stability analysis. The vehicle stability region is calculated by a topological method based on the trajectory reversal method. A 2-DOF vehicle model and Pacejka's tire model are used to evaluate the proposed map-based control method. The properties of model-referenced control and map-based control are compared under various road conditions and driving inputs. Model-referenced control uses a control input to satisfy the linear reference model, and it generates unnecessary tire lateral forces that may lead to worse performance than an uncontrolled vehicle with step steering input on a road with a low friction coefficient. However, map-based control determines a compensated yaw moment to maintain the vehicle within the stability region,so the typical responses of vehicle enable to converge rapidly. The simulation results with sine and step steering show that map-based control provides better the tracking responsibility and control performance than model-referenced control.展开更多
Taking into account the nonlinearity of vehicle dynamics and the variations of vehicle parameters,the integrated control strategy for active front steering(AFS)and direct yaw control(DYC)that can maintain the performa...Taking into account the nonlinearity of vehicle dynamics and the variations of vehicle parameters,the integrated control strategy for active front steering(AFS)and direct yaw control(DYC)that can maintain the performance and robustness is a key issue to be researched.Currently,the H∞method is widely applied to the integrated control of chassis dynamics,but it always sacrifices the performance in order to enhance the stability.The modified structure internal model robust control(MSIMC)obtained by modifying internal model control(IMC)structure is proposed for the integrated control of AFS and DYC to surmount the conflict between performance and robustness.Double lane change(DLC)simulation is developed to compare the performance and the stability of the MSIMC strategy,the PID controller based on the reference vehicle model and the H∞controller.Simulation results show that the PID controller may oscillate and go into instability in severe driving conditions because of large variations of tire parameters,the H∞controller sacrifices the performance in order to enhance the stability,and only the MSIMC controller can both ensure the robustness and the high performance of the integrated control of AFS and DYC.展开更多
In this paper, the variable universe adaptive fuzzy controller based on variable gain Ha regulator （VGH∞R） is designed to stabilize a quadruple inverted pendulum. The VGH∞R is a novel robust gain-scheduling approa...In this paper, the variable universe adaptive fuzzy controller based on variable gain Ha regulator （VGH∞R） is designed to stabilize a quadruple inverted pendulum. The VGH∞R is a novel robust gain-scheduling approach. By utilizing VGH∞R technique, a more precise real-time feedback gain matrix, which is changing with states, is obtained, Via the variable gain matrix 10 state variables of quadruple inverted pendulum are transformed into a kind of synthesis error （E） and synthesis rate of change of error （EC） at sampling time. Therefore, the dimension of the multivariable system is reduced and the variable universe adaptive fuzzy controller is built. Experiments illustrate the effectiveness of the proposed control scheme.展开更多
基金supported by a grant from Research year of Inje University in 2008(0001200811700)
文摘This work proposes a map-based control method to improve a vehicle's lateral stability, and the performance of the proposed method is compared with that of the conventional model-referenced control method. Model-referenced control uses the sliding mode method to determine the compensated yaw moment; in contrast, the proposed map-based control uses the compensated yaw moment map acquired by vehicle stability analysis. The vehicle stability region is calculated by a topological method based on the trajectory reversal method. A 2-DOF vehicle model and Pacejka's tire model are used to evaluate the proposed map-based control method. The properties of model-referenced control and map-based control are compared under various road conditions and driving inputs. Model-referenced control uses a control input to satisfy the linear reference model, and it generates unnecessary tire lateral forces that may lead to worse performance than an uncontrolled vehicle with step steering input on a road with a low friction coefficient. However, map-based control determines a compensated yaw moment to maintain the vehicle within the stability region,so the typical responses of vehicle enable to converge rapidly. The simulation results with sine and step steering show that map-based control provides better the tracking responsibility and control performance than model-referenced control.
基金supported by the National Natural Science Foundation of China(Grant No.51375009 and 11072106)
文摘Taking into account the nonlinearity of vehicle dynamics and the variations of vehicle parameters,the integrated control strategy for active front steering(AFS)and direct yaw control(DYC)that can maintain the performance and robustness is a key issue to be researched.Currently,the H∞method is widely applied to the integrated control of chassis dynamics,but it always sacrifices the performance in order to enhance the stability.The modified structure internal model robust control(MSIMC)obtained by modifying internal model control(IMC)structure is proposed for the integrated control of AFS and DYC to surmount the conflict between performance and robustness.Double lane change(DLC)simulation is developed to compare the performance and the stability of the MSIMC strategy,the PID controller based on the reference vehicle model and the H∞controller.Simulation results show that the PID controller may oscillate and go into instability in severe driving conditions because of large variations of tire parameters,the H∞controller sacrifices the performance in order to enhance the stability,and only the MSIMC controller can both ensure the robustness and the high performance of the integrated control of AFS and DYC.
基金supported by the National Natural Science Foundation of China under Grant Nos.61074044, 61104038,and 60834004Specialized Research Fund for the Doctoral Program of Higher Education of China under Grant No.20090041110003the National 973 Basic Research Program of China under Grant Nos. 2009CB320602 and 2002CB312200
文摘In this paper, the variable universe adaptive fuzzy controller based on variable gain Ha regulator （VGH∞R） is designed to stabilize a quadruple inverted pendulum. The VGH∞R is a novel robust gain-scheduling approach. By utilizing VGH∞R technique, a more precise real-time feedback gain matrix, which is changing with states, is obtained, Via the variable gain matrix 10 state variables of quadruple inverted pendulum are transformed into a kind of synthesis error （E） and synthesis rate of change of error （EC） at sampling time. Therefore, the dimension of the multivariable system is reduced and the variable universe adaptive fuzzy controller is built. Experiments illustrate the effectiveness of the proposed control scheme.
