Handling Delays in Yaw Rate Control of Electric Vehicles Using Model Predictive Control With Experimental Verification

2017 ◽  
Vol 139 (12) ◽  
Author(s):  
Milad Jalali ◽  
Amir Khajepour ◽  
Shih-ken Chen ◽  
Bakhtiar Litkouhi
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Rear Wheel ◽  
Stability Control ◽  
Vehicle Stability ◽  
Control Loop ◽  
Yaw Rate ◽  
Vehicle Stability Control ◽  
Wheel Drive ◽  
Rear Wheel Drive

In this paper, a new approach is proposed to deal with the delay in vehicle stability control using model predictive control (MPC). The vehicle considered here is a rear-wheel drive electric (RWD) vehicle. The yaw rate response of the vehicle is modified by means of torque vectoring so that it tracks the desired yaw rate. Presence of delays in a control loop can severely degrade controller performance and even cause instability. The common approaches for handling delays are often complex in design and tuning or require an increase in the dimensions of the controller. The proposed method is easy to implement and does not entail complex design or tuning process. Moreover, it does not increase the complexity of the controller; therefore, the amount of online computation is not appreciably affected. The effectiveness of the proposed method is verified by means of carsim/simulink simulations as well as experiments with a rear-wheel drive electric sport utility vehicle (SUV). The simulation results indicate that the proposed method can significantly reduce the adverse effect of the delays in the control loop. Experimental tests with the same vehicle also point to the effectiveness of this technique. Although this method is applied to a vehicle stability control, it is not specific to a certain class of problems and can be easily applied to a wide range of model predictive control problems with known delays.

The Research of Wheel Drive Vehicle Yaw Stability Controller Based on Model Predictive Control

2014 ◽  
Vol 998-999 ◽  
pp. 735-740 ◽  
Author(s):  
Chen Guo Zou ◽  
Hong Liang Zhou ◽  
Zhen He
Keyword(s):  
Model Predictive Control ◽  
Predictive Control ◽  
Control Method ◽  
Stability Control ◽  
Safety Control ◽  
Yaw Rate ◽  
Wheel Drive ◽  
Yaw Stability ◽  
Braking Torque ◽  
Driving Torque

As an important active safety control method, vehicle yaw stability control guarantees the dynamic stability of vehicle. A wheel drive vehicle yaw stability controller based on model predictive control theory is designed to plan the longitudinal forces of the four wheels online to control the driving torque or braking torque of each wheel. With the designed controller, the vehicle is able to track the desired yaw rate in the process of turning. The yaw stability and longitudinal characteristics of the vehicle are guaranteed at the same time.

scholarly journals Improving Handling Stability Performance of Four-Wheel Steering Vehicle Based on the H2/H∞ Robust Control

2019 ◽  
Vol 9 (5) ◽  
pp. 857 ◽  
Author(s):  
Fei-Xiang Xu ◽  
Xin-Hui Liu ◽  
Wei Chen ◽  
Chen Zhou ◽  
and Bing-Wei Cao
Keyword(s):  
Robust Control ◽  
System Performance ◽  
Rear Wheel ◽  
Stability Control ◽  
Driver Model ◽  
Vehicle Stability ◽  
Vehicle Model ◽  
Stability Performance ◽  
Vehicle Stability Control ◽  
Modeling Uncertainties

Considering the demand for vehicle stability control and the existence of uncertainties in the four-wheel steering (4WS) system, the mixed H2/H∞ robust control methodology of the 4WS system is proposed. Firstly, the linear 2DOF vehicle model, the nonlinear 8DOF vehicle model, the driver model, and the rear wheel electrohydraulic system model were constructed. Secondly, based on the yaw rate tracking strategy, the mixed H2/H∞ controller was designed with the optimized weighting functions to guarantee system performance, robustness, and the robust stability of the 4WS vehicle stability control system. The H∞ method was applied to minimize the effects of modeling uncertainties, sensor noise, and external disturbances on the system outputs, and the H2 method was used to ensure system performance. Finally, numerical simulations based on Matlab/Simulink and hardware-in-the-loop experiments were performed with the proposed control strategy to identify its performance. The simulation and experimental results indicate that the handling stability of the 4WS vehicle is improved by the H2/H∞ controller and that the 4WS system with the H2/H∞ controller has better handling stability and robustness than those of the H∞ controller and the proportional controller.

A Controller Framework for Autonomous Drifting: Design, Stability, and Experimental Validation

2011 ◽  
Author(s):  
Rami Y. Hindiyeh ◽  
J. Christian Gerdes
Keyword(s):  
Stability Analysis ◽  
Experimental Validation ◽  
Closed Loop ◽  
Rear Wheel ◽  
Loop Structure ◽  
Experimental Performance ◽  
Drive Force ◽  
Yaw Rate ◽  
Wheel Drive ◽  
Rear Wheel Drive

This paper presents a controller framework for autonomous drifting of a rear wheel drive vehicle. The controller uses a successive loop structure, where yaw rate is treated as a synthetic input to control the vehicle’s sideslip dynamics, and yaw rate is in turn controlled through coordination of steering and rear drive force. Relative to prior designs, the drift controller presented in this work enables a straightforward, physically insightful stability analysis where local closed-loop stability of the desired high sideslip “drift equilibrium” is demonstrated. When implemented on a by-wire testbed, the new controller achieves experimental performance that matches or exceeds prior designs, generating sustained and robust autonomous drifts.

Future Vehicle Stability Control Systems for Motorcycles With Focus on Accident Prevention

2008 ◽  
Author(s):  
P. Seiniger ◽  
H. Winner ◽  
J. Gail
Keyword(s):  
Control Systems ◽  
Dynamic Control ◽  
Angular Acceleration ◽  
Rear Wheel ◽  
Stability Control ◽  
Vehicle Stability ◽  
Electronic Stability Program ◽  
Vehicle Stability Control ◽  
Tire Forces ◽  
Motorcycle Accidents

Vehicle Stability Control systems (VSC) for four-wheeled vehicles like the electronic stability program (ESP) helped to decrease the number of traffic deaths in Germany to an all-time low over the last ten years. However, the number of people killed in powered two-wheeler accidents has been almost constant over the same period of time. Vehicle Stability Control systems for powered two-wheelers (especially motorcycles) so far include only anti-lock brakes and traction control systems, both systems are not designed to work in cornering. Further stability control systems are not known up to now. The objective of this paper is to assess the technical possibilities for future Vehicle Stability Control systems and the amount of accidents that could be prevented by those systems. From an accident analysis, all accidents not avoidable by today’s VSC Systems have been analyzed. Only accidents while cornering without braking have been determined as potentially avoidable by future technical systems (braked accidents have been counted as preventable by improved today’s systems). The accidents can be caused by insufficient friction (e.g. slippery road surface, sand, oil or to high curve speed). About 4 to 8 percent of all motorcycle accidents are of this type. The data source for accident descriptions were interviews of motorcycle experts who were able to describe their own accidents and detailed accident descriptions from an accident database. The accident types have been investigated with driving experiments and computer simulation. With a vehicle model different ways to influence the critical driving situations could be analyzed and evaluated. Experiments and simulations showed an instable roll and side-slip angular acceleration of the motorcycle during critical driving situations. The sideslip rate proved to be a robust criterion for recognizing whether a driving situation is critical. The roll movement of the vehicle cannot be influenced with reasonable means, because neither the lateral tire forces can be increased nor stabilizing gyros can be used since the necessary angular momentum is to large for a feasible package. The vehicle sideslip rate can be influenced by braking the front or the rear wheel, thus generating a yaw moment to avoid the dangerous high-side type accidents when friction changes back from low to high. The motorcycle accidents influenced by this system are only a small portion of the mentioned accidents, so as a result of this study, the potential for future vehicle dynamic control systems that help prevent non-braking cornering accidents is estimated quite low.

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