Integrated vehicle dynamics control using semi-active suspension and active braking systems

For the vehicle dynamic control system, to guarantee directional stability in risky maneuvers, the side-slip angle should be restricted to the admissible range when the yaw rate tracks the proposed desired response for enhanced steerability. Meanwhile, the control input of the external yaw moment produced by asymmetric braking forces should be calculated in the practical range according to the capacity of tire forces. In the present study, a novel constrained controller with input and state constraints is developed. To this aim, a cost function consisting of predicted continuous response of yaw rate tracking error is expanded in terms of current control signal. Concurrently, the state constraint of side slip is transformed to the equivalent constraint of control signal by a novel nonlinear prediction approach. After that, the expanded performance index is analytically minimized in the presence of all input constraints to obtain the control law. The computed yaw moment is optimally distributed to asymmetric braking forces by designing a wheel slip control system. Simulation studies are conducted to evaluate the performance of proposed constrained controller compared with the unconstrained controller and a conventional nonlinear model predictive controller developed in the recent papers using a 14-degree-of-freedom vehicle model which includes suspension system dynamics. The results show that the proposed controller is much faster and easy to solve and implement.

show abstract

“…According to Figure 1 and using Newton’s law, the governing equations of lateral, longitudinal, and yaw motions of the vehicle are as follows 23…”

Section: Vehicle Dynamic Modelmentioning

confidence: 99%

“…The empirical coefficients of the tire model, a 1 to a 12 , are presented in Table 1 for longitudinal and lateral forces. 23 The prescribed 14-DOF vehicle model with the parameters provided in Table 2 is validated with other references and experimental results. 25…”

Section: Vehicle Dynamic Modelmentioning

confidence: 99%

Applied nonlinear control of vehicle stability with control and state constraints

Tahouni

Mirzaei

Najjari

2019

Proceedings of the Institution of Mechanical Engineers, Part D:

View full text Add to dashboard Cite

show abstract

“…In addition, the empirical coefficients of the tyre model are presented in Table 2. 13,27,28 It should be noted that the transience tyre characteristics including tyre carcass compliance and contact patch slip properties may not considered in the Pacejka's model, which may be influenced in the performance of ABS. Jaiswal et al 29 investigated this issue on the performance of ABS system in details.…”

Section: Modelling Of Braking and Suspension Systems Mathematical Modmentioning

confidence: 99%

“…where the variables of G i , l i , m i , p i and q i are defined in Appendix 2. By substituting equation (28) into equation (26), the extended performance index can be rewritten as follows The optimal control law for u i t ð Þ ði ¼ fR, fL, rR, rLÞ is obtained by minimizing the performance index (29). In the case of unconstrained controller, the necessary condition for optimality is applied.…”

Section: Design Of Ass Controllermentioning

confidence: 99%

Novel constrained control of active suspension system integrated with anti-lock braking system based on 14-degree of freedom vehicle model

Aghasizade

Mirzaei

Rafatnia

2018

Proceedings of the Institution of Mechanical Engineers, Part K:

View full text Add to dashboard Cite

This paper deals with a novel method for integration of the active suspension system and the anti-lock braking system. In the proposed method, a new nonlinear controller with state constraints is developed for the active suspension system based on the response prediction of 14-degree of freedom vehicle model. The proposed controller isolates the vehicle from road roughness in normal conditions and assists the anti-lock braking system by ensuring a good contact between the tyre and road during hard braking. In addition, the tyre deflection is limited to prevent the threat of tyre bursting. To develop the active suspension system controller, at first, a performance index consisting of a weighted combination of predicted responses of suspension system is expanded as a function of current control input. At the same time, the state constraints of tyre normal force and tyre deflection are transformed to the equivalent constraints of control input by the same prediction approach. Then, the control law is found by minimizing the expanded performance index in the presence of input constraints. The Karush-Kuhn-Tucker theorem is employed to solve the performed constrained optimization problem analytically. The performance of the proposed active suspension system controller integrated with the designed nonlinear anti-lock braking system controller is evaluated for a full vehicle model including roll and pitch motions during braking on irregular random roads. The results show that both the body acceleration and the vehicle stopping distance are decreased for the proposed integrated strategy compared with other conventional strategies.

show abstract

“…Zheng et al [13] presented a control method with a three-layer hierarchical structure aiming at improving the vehicle braking comfort, and the third layer of the structure includes a braking force distribution control method which could control the vehicle deceleration with a smooth axle load transfer process based on linear matrix inequality. Soltani et al [14] proposed a coordinated control of the semiactive suspension and the active braking using a fuzzy controller and an adaptive sliding mode controller, and the simulation results show that this strategy could effectively improve the vehicle handling, stability, and ride comfort.…”

Section: Introductionmentioning

confidence: 99%

Sliding Mode Control of Vehicle Equipped with Brake-by-Wire System considering Braking Comfort

Chen

Zhang

Wang

2020

Shock and Vibration

View full text Add to dashboard Cite

For passengers, the most common feeling during running on the bumpy road is continuous vertical discomfort, and when the vehicle is braking, especially the emergency braking, the instantaneous inertia of the vehicle can also cause a strong discomfort of the passengers, so studying the comfort of the vehicle during the braking process is of great significance for improving the performance of the vehicle. This paper presented a complete control scheme for vehicles equipped with the brake-by-wire (BBW) system aiming at ensuring braking comfort. A novel braking intention classification method was proposed based on vehicle braking comfort, which divided braking intention into mild brake, medium comfort brake, and emergency brake. Correspondingly, in order to improve the control accuracy of the vehicle brake system and to best meet the driver’s brake needs, a braking intention recognizer relying on fuzzy logic was established, which used the road condition and the brake pedal voltage and its change rate as input, output real-time driver's braking intention, and braking intensity. An optimal brake force distribution strategy for the vehicle equipped with the BBW system based on slip rate was proposed to determine the relationship between braking intensity and target slip ratio. Combined with the vehicle dynamics model, improved sliding mode controller, and brake force observer, the joint simulation was conducted in Simulink and CarSim. The cosimulation results show that the proposed braking intention classification method, braking intention recognizer, brake force distribution strategy, and sliding mode control can well ensure the braking comfort of the vehicle equipped with the BBW system under the premise of ensuring brake safety.

show abstract

Integrated vehicle dynamics control using semi-active suspension and active braking systems

Cited by 17 publications

References 34 publications

Applied nonlinear control of vehicle stability with control and state constraints

Applied nonlinear control of vehicle stability with control and state constraints

Novel constrained control of active suspension system integrated with anti-lock braking system based on 14-degree of freedom vehicle model

Sliding Mode Control of Vehicle Equipped with Brake-by-Wire System considering Braking Comfort

Contact Info

Product

Resources

About