Nonlinear control of roll moment distribution to influence vehicle yaw characteristics

Williams, Daniel E.; Haddad, Wassim M.

doi:10.1109/87.370716

Cited by 57 publications

(40 citation statements)

References 4 publications

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“…This leads to an effective reduction of cornering stiffness at those axles, affecting the handling balance [8,9]. Several authors have investigated the possibility of influencing automobile handling through using advanced suspensions to vary roll moment distribution [10][11][12]. These studies showed that, using active control of roll moment distribution, it is possible to improve vehicle handling response and stability.…”

Section: Active Roll Moment Distributionmentioning

confidence: 98%

Active Roll Control of Single Unit Heavy Road Vehicles

Sampson¹,

Cebon²

2003

Vehicle System Dynamics

128

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Strategies are investigated for controlling active anti-roll systems in single unit heavy road vehicles, so as to maximise roll stability. The achievable roll stability improvements that can be obtained by applying active anti-roll torques to truck suspensions are discussed. Active roll control strategies are developed, based on linear quadratic controllers. It is shown that an effective controller can be designed using the LQG approach, combined with the loop transfer recovery method to ensure adequate stability margins. A roll controller is designed for a torsionally flexible single unit vehicle, and the vehicle response to steady-state and transient cornering manoeuvres is simulated. It is concluded that roll stability can be improved by between 26% and 46% depending on the manoeuvre. Handling stability is also improved significantly.

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Section: Active Roll Moment Distributionmentioning

confidence: 98%

Active Roll Control of Single Unit Heavy Road Vehicles

Sampson¹,

Cebon²

2003

Vehicle System Dynamics

128

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show abstract

“…For example, Williams et al [3] made use of the concepts of under steer, neutral steer, and over steer to develop nonlinear controllers to influence roll moment distribution. Abe et al [4] proposed a slip model following direct yaw-moment control (DYC) by sliding control, and used in the sliding control a simple nonlinear tire model on board to calculate the control yaw moment as well as to estimate the vehicle sideslip angle for the control.…”

Section: Introductionmentioning

confidence: 99%

“…As will be introduced more precisely in the next section, these two properties are practical and important in the sense of decreasing drivers' burden and dealing with poor road surface condition, especially when turning a corner. To the best knowledge of the authors, there is very few reference in the literature studying simultaneous realization of these two properties, although there are some working on one of the two separately [3][4][5][6].…”

Section: Introductionmentioning

confidence: 99%

Towards neutral steer and sideslip reduction for four-wheeled electric vehicles

et al. 2012

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This paper proposes an approach to achieving both neutral steer and sideslip reduction for four-wheeled electric vehicles. The control problem is reduced to constructing a servo system tracking appropriate reference input, where the tracking is realized in the framework of H 1 control. To deal with time-varying vehicle velocity for practical purpose, a gain scheduling strategy is developed to obtain the controller, where the lower and upper bounds of the velocity are used to obtain a polytopic range for the parameters in the system coefficient matrices. A numerical example is given to show validity of the proposed approach.

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“…Although active suspension has been widely studied for decades, most of the research are focused on vehicle ride comfort, with only few papers (Williams and Haddad, 1995;Ayat et al, 2002a;Wang et al, 2005, Ayat et al, 2002b studying how an active suspension system can improve vehicle handling. It is well-known that a vehicle tends to roll on its longitudinal axis if the vehicle is subjected to steering wheel input due to the weight transfer from the inside to the outside wheels.…”

Section: Introductionmentioning

confidence: 99%

Pid Controller with Roll Moment Rejection for Pneumatically Actuated Active Roll Control (ARC) Suspension System

Hudha¹,

Ahmad²,

Kadir³

et al. 2011

PID Control, Implementation and Tuning

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This chapter presents a successful implementation of PID controller for a pneumatically actuated active roll control suspension system in both simulation and experimental studies. For the simulation model, a full vehicle model which consists of ride, handling and tire subsystems to study vehicle dynamics behavior in lateral direction is derived. The full vehicle model is then validated experimentally using an instrumented experimental vehicle based on the driver input from the steering wheel. Two types of vehicle dynamics test are performed for the purpose of model validation namely step steer test and double lane change test. The results of model validation show that the behaviors of the model closely follow the behavior of a real vehicle with acceptable error. An active roll control (ARC) suspension system is then developed on the validated full vehicle model to reduce unwanted vehicle motions during cornering maneuvers such as body roll angle, body roll rate, vertical acceleration of the body and body heave. The proposed controller structure for the ARC system is PID control with roll moment rejection loop. The ARC system is then implemented on an instrumented experimental vehicle in which four units of pneumatic actuators are installed in parallel arrangement with the passive suspension system. The 1 www.intechopen.com results of the study shows that the proposed control structure is able to significantly improve the dynamics performance of the vehicle during step steer and double lane change maneuvers compared to a passive vehicle system. It can also be noted that the additional roll moment rejection loop is able to further improve the performance of the PID controller for the ARC system.

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Nonlinear control of roll moment distribution to influence vehicle yaw characteristics

Cited by 57 publications

References 4 publications

Active Roll Control of Single Unit Heavy Road Vehicles

Active Roll Control of Single Unit Heavy Road Vehicles

Towards neutral steer and sideslip reduction for four-wheeled electric vehicles

Pid Controller with Roll Moment Rejection for Pneumatically Actuated Active Roll Control (ARC) Suspension System

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