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Coordinated control of active front steering and directyaw moment for vehicles(PDF)


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Coordinated control of active front steering and directyaw moment for vehicles
Sang Nan1Liu Runqiao2Zhao Wanzhong2
1.School of Mechanical and Vehicle Engineering,Changzhou Institute of Technology,Changzhou 213032,China; 2.College of Energy and Power Engineering,Nanjing University of Aeronauticsand Astronautics,Nanjing 210016,China
vehicles active front steering direct yaw moment linear two-degree-of-freedom model active disturbance rejection control
U461.1; U461.6
In order to make full use of the longitudinal and lateral adhesion of roads and improve the controllability and stability of vehicles,an integrated control method of active front steering(AFS)and direct yaw moment control(DYC)based on the active disturbance rejection decoupling technology is proposed. The front steering critical angle of a vehicle is determined based on simulation test and used to divide the working area of AFS and DYC. The control of AFS and DYC is weighted,and the switch of AFS and DYC is gradual. The active disturbance rejection(ADR)integrated controller for AFS and DYC is designed based on a linear two-degree-of-freedom vehicle model. A vehicle model is built in CarSim and controlled by Simulink’s control model. Double lane change tests of the high and low adhesion roads are carried out. Compared with the independent action of AFS and DYC,the integrated control AFS and DYC reduces the maximum yaw rate by 20% and 11.8% respectively,the maximum sideslip angle by 28.1% and 17.9% respectively,and the maximum lateral acceleration by 26.1% and 20.7% respectively on the high adhesion road; on the low adhesion road,the maximum yaw rates decrease by 14.5% and 13.3%,the maximum sideslip angles decrease by 6.7% and 1.4%,and the maximum lateral acceleration decreases by 9.7% and 3.5%,respectively. The simulation results show that the proposed coordinated control strategy and integrated control method can improve the stability of vehicles driving on high and low adhesion roads.


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Last Update: 2018-12-30