scholarly journals Research on Model Predictive Control for Automobile Active Tilt Based on Active Suspension

Energies ◽  
2021 ◽  
Vol 14 (3) ◽  
pp. 671
Author(s):  
Jialing Yao ◽  
Meng Wang ◽  
Zhihong Li ◽  
Yunyi Jia
Keyword(s):  
Load Transfer ◽  
Ride Comfort ◽  
Active Suspension ◽  
Path Tracking ◽  
Roll Angle ◽  
Lateral Acceleration ◽  
Vehicle Speed ◽  
Model Predictive Controller ◽  
Advantages And Disadvantages ◽  
Predictive Controller

To improve the handling stability of automobiles and reduce the odds of rollover, active or semi-active suspension systems are usually used to control the roll of a vehicle. However, these kinds of control systems often take a zero-roll-angle as the control target and have a limited effect on improving the performance of the vehicle when turning. Tilt control, which actively controls the vehicle to tilt inward during a curve, greatly benefits the comprehensive performance of a vehicle when it is cornering. After analyzing the advantages and disadvantages of the tilt control strategies for narrow commuter vehicles by combining the structure and dynamic characteristics of automobiles, a direct tilt control (DTC) strategy was determined to be more suitable for automobiles. A model predictive controller for the DTC strategy was designed based on an active suspension. This allowed the reverse tilt to cause the moment generated by gravity to offset that generated by the centrifugal force, thereby significantly improving the handling stability, ride comfort, vehicle speed, and rollover prevention. The model predictive controller simultaneously tracked the desired tilt angle and yaw rate, achieving path tracking while improving the anti-rollover capability of the vehicle. Simulations of step-steering input and double-lane change maneuvers were performed. The results showed that, compared with traditional zero-roll-angle control, the proposed tilt control greatly reduced the occupant’s perceived lateral acceleration and the lateral load transfer ratio when the vehicle turned and exhibited a good path-tracking performance.

Automobile active tilt based on active suspension with H∞ robust control

2020 ◽  
pp. 095440702096620
Author(s):  
Jialing Yao ◽  
Meng Wang ◽  
Yanan Bai
Keyword(s):  
Robust Control ◽  
Degrees Of Freedom ◽  
Load Transfer ◽  
Ride Comfort ◽  
Simulation Analysis ◽  
Active Suspension ◽  
Roll Angle ◽  
Lateral Acceleration ◽  
Roll Moment ◽  
Roll Control

Automobile roll control aims to reduce or achieve a zero roll angle. However, the ability of this roll control to improve the handling stability of vehicles when turning is limited. This study proposes a direct tilt control methodology for automobiles based on active suspension. This tilt control leans the vehicle’s body toward the turning direction and therefore allows the roll moment generated by gravity to reduce or even offset the roll moment generated by the centrifugal force. This phenomenon will greatly improve the roll stability of the vehicle, as well as the ride comfort. A six-degrees-of-freedom vehicle dynamics model is established, and the desired tilt angle is determined through dynamic analysis. In addition, an H∞ robust controller that coordinates different performance demands to achieve the control objectives is designed. The occupant’s perceived lateral acceleration and the lateral load transfer ratio are used to evaluate and explain the main advantages of the proposed active tilt control. To account the difference between the proposed and traditional roll controls, a simulation analysis is performed to compare the proposed tilt H∞ robust control, a traditional H∞ robust control for zero roll angle, and a passive suspension system. The analysis of the time and frequency domains shows that the proposed controller greatly improves the handling stability and anti-rollover ability of vehicles during steering and maintains acceptable ride comfort.

scholarly journals Automobile active tilt control based on active suspension

2018 ◽  
Vol 10 (10) ◽  
pp. 168781401880145 ◽  
Author(s):  
Jialing Yao ◽  
Zhihong Li ◽  
Meng Wang ◽  
Feifan Yao ◽  
Zheng Tang
Keyword(s):  
Tilt Angle ◽  
Load Transfer ◽  
Ride Comfort ◽  
Control Method ◽  
Sliding Mode ◽  
Active Suspension ◽  
Degree Of Freedom ◽  
Lateral Acceleration ◽  
Vehicle Speed ◽  
Rollover Prevention

The rolling control of a car that focuses on reducing the roll angle passively has limited performance of increasing handling stability, passing speed, ride comfort, and rollover prevention while turning. This project presents a method for controlling an automobile to tilt toward the turning direction using active suspension. A 6-degree-of-freedom vehicle model with a 2-degree-of-freedom steering model and a 4-degree-of-freedom tilting model is established. The active tilt sliding mode controller, which causes zero steady-state tilt angle error, is established after the desired tilt angle is determined by dynamic analysis. Simulation results confirm the effectiveness of the control method. The proposed controller reduces the perceived lateral acceleration and the lateral load transfer rate, thereby effectively improving handling stability, ride comfort, and vehicle speed, meanwhile decreasing the possibility of rollover while turning.

Vehicle rollover warning system based on TTR method with Inertial Measurement

2021 ◽  
Author(s):  
Mengmeng Wang ◽  
Jinhao Liu ◽  
Hongye Zhang ◽  
Linjie Gan ◽  
Xiangbo Xu ◽  
...  
Keyword(s):  
Steady State ◽  
Load Transfer ◽  
Warning System ◽  
Front Wheel ◽  
Roll Angle ◽  
Lateral Acceleration ◽  
Vehicle Speed ◽  
Matlab Simulink ◽  
Vehicle Rollover ◽  
Rollover Warning

Abstract This paper presents a theoretical and experimental study conducted on the rollover warning of wheeled off-road operating vehicles. The time to rollover (TTR) warning algorithm was studied with real-time vehicle roll angle and roll angle velocity as the input variables, and lateral load transfer ratio (LTR) was used as the rollover determination index. Subsequently, a vehicle dynamics model was built using CarSim software, and a warning algorithm was established in the MATLAB/Simulink environment. The rollover joint simulation in CarSim and MATLAB/Simulink was conducted under typical working conditions. Finally, combined with inertial measurements, a rollover warning system was independently developed. In addition, the rollover warning system was installed on a light forest firefighting truck to verify the feasibility of the system via a real vehicle experiment, and the law of vehicle rollover motion was also studied. The serpentine experiment and steady-state rotation experiment were conducted. The experimental results showed that at identical front-wheel steering angles, the roll angle and lateral acceleration increased with an increase in the vehicle speed. Furthermore, for identical vehicle speeds, the roll angle and lateral acceleration of the vehicle increased with an increase in the front-wheel steering angle. The dangerous vehicle speed was 50 km/h in the serpentine condition and 40 km/h in the steady-state rotation condition. The risk trend and alarm signal obtained by the rollover warning system were consistent with the actual situation. Thus, this can assist drivers in judging the rollover risk and effectively improve the active safety of special vehicles. Furthermore, it also provides a reference for further research on active rollover control technology of special vehicles.

Switched model predictive controller for path tracking of autonomous vehicle considering rollover stability

2021 ◽  
pp. 1-20
Author(s):  
Ying Tian ◽  
Qiangqiang Yao ◽  
Chengqiang Wang ◽  
Shengyuan Wang ◽  
Jiaqi Liu ◽  
...  
Keyword(s):  
Autonomous Vehicle ◽  
Path Tracking ◽  
Model Predictive Controller ◽  
Predictive Controller ◽  
Rollover Stability

Modelling and Comparison of Semi-Active Control Logics for Suspension System of 8x8 Armoured Multi-Role Military Vehicle

2014 ◽  
Vol 592-594 ◽  
pp. 2165-2178 ◽  
Author(s):  
M.W. Trikande ◽  
Vinit V. Jagirdar ◽  
Muraleedharan Sujithkumar
Keyword(s):  
Active Control ◽  
Time Domain ◽  
Ride Comfort ◽  
Vertical Direction ◽  
Active Suspension ◽  
Suspension System ◽  
Road Surface ◽  
Vehicle Speed ◽  
The Road ◽  
Road Disturbance

Comparative performance of vehicle suspension system using passive, and semi-active control (on-off and continuous) has been carried out for a multi-axle vehicle under the source of road disturbance. Modelling and prediction for stochastic inputs from random road surface profiles has been carried out. The road surface is considered as a stationary stochastic process in time domain assuming constant vehicle speed. The road surface elevations as a function of time have been generated using IFFT. Semi active suspension gives better ride comfort with consumption of fraction of power required for active suspension. A mathematical model has been developed and control algorithm has been verified with the purpose/objective of reducing the unwanted sprung mass motions such as heave, pitch and roll. However, the cost and complexity of the system increases with implementation of semi-active control, especially in military domain. In addition to fully passive and fully semi-active a comparison has been made with partial semi-active control for a multi-axle vehicle to obviate the constraints. The time domain response of the suspension system using various control logics are obtained and compared. Simulations for different class of roads as defined in ISO: 8608 have been run and the ride comfort is evaluated and compared in terms of rms acceleration at CG in vertical direction (Z), which is the major contributor for ORV (Overall Ride Value) Measurement.

Potentialities of Active Suspensions for the Improvement of Handling Performances

2010 ◽  
Author(s):  
Francesco Braghin ◽  
Alessandro Prada ◽  
Edoardo Sabbioni
Keyword(s):  
Load Transfer ◽  
Ride Comfort ◽  
Control Strategies ◽  
Active Suspension ◽  
Suspension Spring ◽  
Suspension Systems ◽  
Active Suspension Systems ◽  
In Series ◽  
High Bandwidth ◽  
Damper Control

Active and semi-active suspension systems are widely diffused into the automotive industry and several control strategies have been proposed in the literature both concerning ride comfort and handling. The capability of several suspension active control systems in enhancing the vehicle handling performances are compared in this paper. In particular, a low-bandwidth active suspension (actuator in series with the suspension spring), an active antiroll bar, an active camber suspension and a semi-active high-bandwidth suspension (closed loop damper control) are considered. The benchmark is represented by an ideal vehicle which does not present any load transfer and has no yaw moment of inertia. The possibility of combining more than one active/semi-active suspension system is also discussed.

Parametric Analysis of Ride Comfort for Tilting Railway Vehicles Running on Irregular Curved Tracks

2016 ◽  
Vol 16 (09) ◽  
pp. 1550056 ◽  
Author(s):  
Yung-Chang Cheng ◽  
Chin-Te Hsu
Keyword(s):  
Ride Comfort ◽  
Lateral Displacement ◽  
Equations Of Motion ◽  
Roll Angle ◽  
Creep Model ◽  
Railway Vehicle ◽  
Vehicle Speed ◽  
Nonlinear Creep ◽  
Rail Irregularities ◽  
Yaw Angle

The ride comfort of a tilting railway vehicle moving on curved tracks with rail irregularities is studied. Using the nonlinear creep model and Kalker's linear theory, the governing differential equations of motion for a tilting railway vehicle running on irregular tracks are first derived. The tilting railway vehicle is modeled by a 27 degree-of-freedom (DOF) car system, considering the lateral displacement, vertical displacement, roll angle and yaw angle of both the wheelsets and bogie frames, as well as the lateral displacement, roll angle and yaw angle of the car body. Based on the international standard ISO 2631-1, the effect of vehicle speed on the ride comfort index of the tilting vehicle is investigated for various tilting angles, using both linear and nonlinear creep models, and various radii of curved tracks, as well as for various suspension parameters. Finally, the ride comfort indices computed with rail irregularities are found to be higher than those with no rail irregularities, indicating that the effect of rail irregularities on the ride comfort of a tilting vehicle cannot be disregarded in practice.

Research on Path Tracking Control for Vision Based Intelligent Vehicle

2011 ◽  
Vol 63-64 ◽  
pp. 305-308
Author(s):  
Sheng Min Cui ◽  
Chao Zhang ◽  
Jian Feng Wang ◽  
Kun Zhang
Keyword(s):  
Optimal Control ◽  
State Feedback ◽  
Ride Comfort ◽  
Control Method ◽  
Path Tracking ◽  
Lateral Acceleration ◽  
Intelligent Vehicle ◽  
Lateral Deviation ◽  
Automatic Steering ◽  
Optimal State Feedback

This paper proposes an optimal control method to achieve the path tracking mission for the vision based intelligent vehicle. After the access of road trajectory, path tracking task is achieved by the intelligent vehicle automatic steering devices. The angle deviation and lateral deviation relative to the target path can be controlled in the smaller range by state feedback optimal control. A car model contained road information is established for the achievement of intelligent vehicle path tracking and automatic steering. Some values of the variables needed for the control system are obtained by sensors mounted on the car, and achieve the path tracking by the optimal state feedback controller. The algorithm proposed has been validated by simulations. It can make the lateral deviation within the expected range stability. And also the lateral acceleration meets the ride comfort requirements.

scholarly journals Model Predictive Control for Autonomous Driving Vehicles

Electronics ◽  
2021 ◽  
Vol 10 (21) ◽  
pp. 2593
Author(s):  
Trieu Minh Vu ◽  
Reza Moezzi ◽  
Jindrich Cyrus ◽  
Jaroslav Hlava
Keyword(s):  
Optimal Control ◽  
Model Predictive Control ◽  
Predictive Control ◽  
Nonlinear Model ◽  
Autonomous Driving ◽  
Nonlinear Model Predictive Control ◽  
System Stability ◽  
Vehicle Speed ◽  
Model Predictive Controller ◽  
Predictive Controller

The field of autonomous driving vehicles is growing and expanding rapidly. However, the control systems for autonomous driving vehicles still pose challenges, since vehicle speed and steering angle are always subject to strict constraints in vehicle dynamics. The optimal control action for vehicle speed and steering angular velocity can be obtained from the online objective function, subject to the dynamic constraints of the vehicle’s physical limitations, the environmental conditions, and the surrounding obstacles. This paper presents the design of a nonlinear model predictive controller subject to hard and softened constraints. Nonlinear model predictive control subject to softened constraints provides a higher probability of the controller finding the optimal control actions and maintaining system stability. Different parameters of the nonlinear model predictive controller are simulated and analyzed. Results show that nonlinear model predictive control with softened constraints can considerably improve the ability of autonomous driving vehicles to track exactly on different trajectories.

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