The control problem of trajectory based path following for passenger vehicles is studied. Comprehensive nonlinear vehicle model is utilized for simulation vehicle response during various maneuvers in MATLAB/Simulink. ...The control problem of trajectory based path following for passenger vehicles is studied. Comprehensive nonlinear vehicle model is utilized for simulation vehicle response during various maneuvers in MATLAB/Simulink. In order to follow desired path, a driver model is developed to enhance closed loop driver/vehicle model. Then, linear quadratic regulator(LQR) controller is developed which regulates direct yaw moment and corrective steering angle on wheels. Particle swam optimization(PSO) method is utilized to optimize the LQR controller for various dynamic conditions. Simulation results indicate that, over various maneuvers, side slip angle and lateral acceleration can be reduced by 10% and 15%, respectively, which sustain the vehicle stable. Also, anti-lock brake system is designed for longitudinal dynamics of vehicle to achieve desired slip during braking and accelerating. Proposed comprehensive controller demonstrates that vehicle steerability can increase by about 15% during severe braking by preventing wheel from locking and reducing stopping distance.展开更多
Vehicle height and leveling control of electronically controlled air suspension(ECAS) still poses theoretical challenges for researchers that have not been adequately addressed in prior research. This paper investigat...Vehicle height and leveling control of electronically controlled air suspension(ECAS) still poses theoretical challenges for researchers that have not been adequately addressed in prior research. This paper investigates the design and verification of a new controller to adjust the vehicle height and to regulate the roll and pitch angles of the vehicle body(leveling control) during the height adjustment procedures. A nonlinear mechanism model of the vehicle height adjustment system is formulated to describe the dynamic behaviors of the system. By using mixed logical dynamical(MLD) approach, a novel control strategy is proposed to adjust the vehicle height by controlling the on-off statuses of the solenoid valves directly. On this basis, a correction algorithm is also designed to regulate the durations of the on-off statuses of the solenoid valves based on pulse width modulated(PWM) technology, thus the effective leveling control of the vehicle body can be guaranteed. Finally, simulations and vehicle tests results are presented to demonstrate the effectiveness and applicability of the proposed control methodology.展开更多
文摘The control problem of trajectory based path following for passenger vehicles is studied. Comprehensive nonlinear vehicle model is utilized for simulation vehicle response during various maneuvers in MATLAB/Simulink. In order to follow desired path, a driver model is developed to enhance closed loop driver/vehicle model. Then, linear quadratic regulator(LQR) controller is developed which regulates direct yaw moment and corrective steering angle on wheels. Particle swam optimization(PSO) method is utilized to optimize the LQR controller for various dynamic conditions. Simulation results indicate that, over various maneuvers, side slip angle and lateral acceleration can be reduced by 10% and 15%, respectively, which sustain the vehicle stable. Also, anti-lock brake system is designed for longitudinal dynamics of vehicle to achieve desired slip during braking and accelerating. Proposed comprehensive controller demonstrates that vehicle steerability can increase by about 15% during severe braking by preventing wheel from locking and reducing stopping distance.
基金supported by the National Natural Science Foundation of China(Grant Nos.51375212,61403172&51305167)Funded by the Priority Academic Program Development of Jiangsu Higher Education Institutions(PAPD)Key Research and Development Program of Jiangsu Province(Grant No.BE2016149)
文摘Vehicle height and leveling control of electronically controlled air suspension(ECAS) still poses theoretical challenges for researchers that have not been adequately addressed in prior research. This paper investigates the design and verification of a new controller to adjust the vehicle height and to regulate the roll and pitch angles of the vehicle body(leveling control) during the height adjustment procedures. A nonlinear mechanism model of the vehicle height adjustment system is formulated to describe the dynamic behaviors of the system. By using mixed logical dynamical(MLD) approach, a novel control strategy is proposed to adjust the vehicle height by controlling the on-off statuses of the solenoid valves directly. On this basis, a correction algorithm is also designed to regulate the durations of the on-off statuses of the solenoid valves based on pulse width modulated(PWM) technology, thus the effective leveling control of the vehicle body can be guaranteed. Finally, simulations and vehicle tests results are presented to demonstrate the effectiveness and applicability of the proposed control methodology.
