Yaw moment control strategy of motorized wheel dump truck based on PSO

By analyzing the key safety problems under the front-outside-tire burst steering condition, a vehicle stability control strategy is proposed in this paper, which is based on active front steering and differential braking systems. Taken both the handling stability and safety into account, we divided the whole control strategy into two layers, which are yaw moment control layer and the additional steering angle & tire force distribution layer. To solve the similar linear problem concisely, the LQR control is adopted in the yaw moment control layer. To achieve the goal of providing enough additional lateral force and yaw moment while keeping the burst tire in appropriate condition, the additional steering angle provided by active front steering system and the tire force distribution was adjusted step by step. To test the proposed control strategy performance, we modelling a basic front-outside-tire burst steering condition, in which the tire blows out once the vertical pressure reach the predefined critical value. Through simulation on different adhesion coefficient road, the control strategy proposed in this paper performance quite better compare with the uncontrolled one in aspect of movement, burst tire protection, handling stability.

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Lane keeping control strategy with direct yaw moment control input by considering dynamics of electric vehicle

Vehicle System Dynamics ◽

10.1080/00423110600870006 ◽

2006 ◽

Vol 44 (sup1) ◽

pp. 192-201 ◽

Cited By ~ 31

Author(s):

Pongsathorn Raksincharoensak ◽

Masao Nagai ◽

Motoki Shino

Keyword(s):

Electric Vehicle ◽

Control Strategy ◽

Control Input ◽

Direct Yaw Moment Control ◽

Yaw Moment Control ◽

Moment Control ◽

Lane Keeping ◽

Yaw Moment

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Research on Direct Yaw Moment Control Strategy of Distributed-Drive Electric Vehicle Based on Joint Observer

Energy Engineering ◽

10.32604/ee.2021.014515 ◽

2021 ◽

Vol 118 (4) ◽

pp. 853-874

Author(s):

Quan Min ◽

Min Deng ◽

Zichen Zheng ◽

Shu Wang ◽

Xianyong Gui ◽

...

Keyword(s):

Electric Vehicle ◽

Control Strategy ◽

Direct Yaw Moment Control ◽

Yaw Moment Control ◽

Distributed Drive Electric Vehicle ◽

Moment Control ◽

Yaw Moment

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Game-Based Hierarchical Cooperative Control for Electric Vehicle Lateral Stability via Active Four-Wheel Steering and Direct Yaw-Moment Control

Energies ◽

10.3390/en12173339 ◽

2019 ◽

Vol 12 (17) ◽

pp. 3339 ◽

Cited By ~ 3

Author(s):

Zhao ◽

Lu ◽

Zhang

Keyword(s):

Electric Vehicle ◽

Control Strategy ◽

Cooperative Control ◽

Stackelberg Game ◽

Stability Control ◽

Lateral Stability ◽

Direct Yaw Moment Control ◽

Yaw Moment Control ◽

Moment Control ◽

Yaw Moment

A Stackelberg game-based cooperative control strategy is proposed for enhancing the lateral stability of a four-wheel independently driving electric vehicle (FWID-EV). An upper‒lower double-layer hierarchical control structure is adopted for the design of a stability control strategy. The leader‒follower-based Stackelberg game theory (SGT) is introduced to model the interaction between two unequal active chassis control subsystems in the upper layer. In this model, the direct yaw-moment control (DYC) and the active four-wheel steering (AFWS) are treated as the leader and the follower, respectively, based on their natural characteristics. Then, in order to guarantee the efficiency and convergence of the proposed control strategy, a sequential quadratic programming (SQP) algorithm is employed to solve the task allocation problem among the distributed actuators in the lower layer. Also, a double-mode adaptive weight (DMAW)- adjusting mechanism is designed, considering the negative effect of DYC. The results of cosimulation with CarSim and Matlab/Simulink demonstrate that the proposed control strategy can effectively improve the lateral stability by properly coordinating the actions of AFWS and DYC.

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A novel manoeuvre stability controller based on vehicle state prediction and intellectual braking torque distribution

Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering ◽

10.1177/0954407019845717 ◽

2019 ◽

Vol 234 (1) ◽

pp. 136-151 ◽

Cited By ~ 1

Author(s):

Liqin Zhang ◽

Yang Wu ◽

Boyuan Li ◽

Bangji Zhang ◽

Nong Zhang

Keyword(s):

Control Strategy ◽

Sliding Mode ◽

Sudden Change ◽

Middle Layer ◽

Contact Condition ◽

Slip Angle ◽

Direct Yaw Moment Control ◽

Yaw Moment Control ◽

Moment Control ◽

Yaw Moment

This paper proposes an innovative hierarchical direct yaw moment control strategy consisting of upper, middle and lower controllers. In the upper layer, a linear quadratic regulator metric based on current side-slip angle and predicted yaw rate is established to generate the controlled yaw moment. The middle layer determines the actuating tyre forces and allocates the required longitudinal forces for each tyre according to the current tyre–road contact condition. Furthermore, the desired longitudinal slip ratios for each tyre are calculated in the middle layer. Finally, a suitable brake pressure is achieved by the sliding mode controller in the lower layer. The simulation results of sine with dwell and double lane change verify the effectiveness of the proposed method. Compared with a traditional direct yaw moment control strategy that preferentially brakes the priority wheel, the proposed novel strategy is able to keep the longitudinal force of the tyre working in a linear region and has better robustness response when the tyre–road contact condition encounters sudden change.

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Coordination control of active front steering and direct yaw moment control based on stability judgment for AVs stability enhancement

Proceedings of the Institution of Mechanical Engineers Part D Journal of Automobile Engineering ◽

10.1177/09544070211018104 ◽

2021 ◽

pp. 095440702110181

Author(s):

Xinxin Yao ◽

Xianguang Gu ◽

Ping Jiang

Keyword(s):

Control Strategy ◽

Coordination Control ◽

Tracking Accuracy ◽

Stability Performance ◽

Direct Yaw Moment Control ◽

Active Front Steering ◽

Yaw Moment Control ◽

Moment Control ◽

The Stability ◽

Yaw Moment

A coordination control strategy based on stability judgment is presented for autonomous vehicles (AVs) aiming to enhance the handling and stability performance. Firstly, the stability judgment scheme is used to evaluate the real-time stability level of vehicles based on the Self-Organizing Feature Map (SOFM) neural network and K-Means algorithm. Secondly, a coordination controller of active front steering (AFS) and direct yaw moment control (DYC) is designed to track the desired vehicle motion. To enhance the handling and stability of AVs, the weights of AFS and DYC controllers are adaptively adjusted according to the vehicle stability level. Finally, the effectiveness of the proposed method is verified in co-simulation environment of CarSim and Simulink, and a rapid control prototyping test is implemented to evaluate the feasibility and robustness. The results indicate that the stability judgment scheme and coordination control strategy for AVs can not only satisfy the requirements of path tracking accuracy but also enhance the handling and stability performance.

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Yaw Moment Control Strategy for Four Wheel Side Driven EV

Automatic Control and Computer Sciences ◽

10.3103/s0146411618010091 ◽

2018 ◽

Vol 52 (1) ◽

pp. 32-39 ◽

Cited By ~ 1

Author(s):

Zhu Zhao ◽

Du Ronghua

Keyword(s):

Control Strategy ◽

Wheel Side ◽

Yaw Moment Control ◽

Moment Control ◽

Yaw Moment

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Innovative Active Vehicle Safety Using Integrated Stabilizer Pendulum and Direct Yaw Moment Control

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.4027499 ◽

2014 ◽

Vol 136 (5) ◽

Cited By ~ 7

Author(s):

Avesta Goodarzi ◽

Fereydoon Diba ◽

Ebrahim Esmailzadeh

Keyword(s):

Control System ◽

Model Simulation ◽

Dynamic Control ◽

Superior Performance ◽

Steering Control ◽

Pendulum System ◽

Direct Yaw Moment Control ◽

Yaw Moment Control ◽

Moment Control ◽

Yaw Moment

Basically, there are two main techniques to control the vehicle yaw moment. First method is the indirect yaw moment control, which works on the basis of active steering control (ASC). The second one being the direct yaw moment control (DYC), which is based on either the differential braking or the torque vectoring. An innovative idea for the direct yaw moment control is introduced by using an active controller system to supervise the lateral dynamics of vehicle and perform as an active yaw moment control system, denoted as the stabilizer pendulum system (SPS). This idea has further been developed, analyzed, and implemented in a standalone direct yaw moment control system, as well as, in an integrated vehicle dynamic control system with a differential braking yaw moment controller. The effectiveness of SPS has been evaluated by model simulation, which illustrates its superior performance especially on low friction roads.

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Comparison of Typical Controllers for Direct Yaw Moment Control Applied on an Electric Race Car

Vehicles ◽

10.3390/vehicles3010008 ◽

2021 ◽

Vol 3 (1) ◽

pp. 127-144

Author(s):

Andoni Medina ◽

Guillermo Bistue ◽

Angel Rubio

Keyword(s):

Handling Performance ◽

Electric Cars ◽

Control Techniques ◽

Race Car ◽

Yaw Rate ◽

Direct Yaw Moment Control ◽

Yaw Moment Control ◽

Moment Control ◽

Race Track ◽

Yaw Moment

Direct Yaw Moment Control (DYC) is an effective way to alter the behaviour of electric cars with independent drives. Controlling the torque applied to each wheel can improve the handling performance of a vehicle making it safer and faster on a race track. The state-of-the-art literature covers the comparison of various controllers (PID, LPV, LQR, SMC, etc.) using ISO manoeuvres. However, a more advanced comparison of the important characteristics of the controllers’ performance is lacking, such as the robustness of the controllers under changes in the vehicle model, steering behaviour, use of the friction circle, and, ultimately, lap time on a track. In this study, we have compared the controllers according to some of the aforementioned parameters on a modelled race car. Interestingly, best lap times are not provided by perfect neutral or close-to-neutral behaviour of the vehicle, but rather by allowing certain deviations from the target yaw rate. In addition, a modified Proportional Integral Derivative (PID) controller showed that its performance is comparable to other more complex control techniques such as Model Predictive Control (MPC).

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Integrated vehicle chassis control for active front steering and direct yaw moment control based on hierarchical structure

Transactions of the Institute of Measurement and Control ◽

10.1177/0142331218801131 ◽

2018 ◽

Vol 41 (9) ◽

pp. 2428-2440 ◽

Cited By ~ 8

Author(s):

Jiaxu Zhang ◽

Jing Li

Keyword(s):

Sliding Mode ◽

Null Space ◽

Level Control ◽

Direct Yaw Moment Control ◽

Active Front Steering ◽

Yaw Moment Control ◽

Chassis Control ◽

Moment Control ◽

Vehicle Chassis ◽

Yaw Moment

This paper presents an integrated vehicle chassis control (IVCC) strategy to improve vehicle handling and stability by coordinating active front steering (AFS) and direct yaw moment control (DYC) in a hierarchical way. In high-level control, the corrective yaw moment is calculated by the fast terminal sliding mode control (FTSMC) method, which may improve the transient response of the system, and a non-linear disturbance observer (NDO) is used to estimate and compensate for the model uncertainty and external disturbance to suppress the chattering of FTSMC. In low-level control, the null-space-based control reallocation method and inverse tyre model are utilized to transform the corrective yaw moment to the desired longitudinal slips and the steer angle increment of front wheels by considering the constraints of actuators and friction ellipse of each wheel. Finally, the performance of the proposed control strategy is verified through simulations of various manoeuvres based on vehicle dynamic software CarSim.

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