A Human-Machine-Cooperative-Driving Controller Based on AFS and DYC for Vehicle Dynamic Stability

Deng

et al. 2019

Chin. J. Mech. Eng.

The current investigations primarily focus on using advanced suspensions to overcome the tradeoff design of ride comfort and handling performance for mining vehicles. It is generally realized by adjusting spring stiffness or damping parameters through active control methods. However, some drawbacks regarding control complexity and uncertain reliability are inevitable for these advanced suspensions. Herein, a novel passive hydraulically interconnected suspension (HIS) system is proposed to achieve an improved ride-handling compromise of mining vehicles. A lumped-mass vehicle model involved with a mechanical-hydraulic coupled system is developed by applying the free-body diagram method. The transfer matrix method is used to derive the impedance of the hydraulic system, and the impedance is integrated to form the equation of motions for a mechanical-hydraulic coupled system. The modal analysis method is employed to obtain the free vibration transmissibilities and force vibration responses under different road excitations. A series of frequency characteristic analyses are presented to evaluate the isolation vibration performance between the mining vehicles with the proposed HIS and the conventional suspension. The analysis results prove that the proposed HIS system can effectively suppress the pitch motion of sprung mass to guarantee the handling performance, and favorably provide soft bounce stiffness to improve the ride comfort. The distribution of dynamic forces between the front and rear wheels is more reasonable, and the vibration decay rate of sprung mass is increased effectively. This research proposes a new suspension design method that can achieve the enhanced cooperative control of bounce and pitch motion modes to improve the ride comfort and handling performance of mining vehicles as an effective passive suspension system. which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.

Section: Introductionmentioning

confidence: 99%

Vibration Performance Analysis of a Mining Vehicle with Bounce and Pitch Tuned Hydraulically Interconnected Suspension

Deng

et al. 2019

Chin. J. Mech. Eng.

“…Active steering like AFS and driving/braking-based yaw moment control systems like direct yaw-moment control (DYC) are major parts of active stability control systems, which play important roles in improving a vehicle's dynamic performance [4]. DYC stabilizes the vehicle by generating additional yaw moment when it deviates from the desired states [5].…”

Section: Introductionmentioning

confidence: 99%

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

Zhao

2019

Energies

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.Energies 2019, 12, 3339 2 of 21 approaches the adhesion limit [9], whereas DYC could play an effective role under these extreme conditions. This phenomenon reflects the variable control effects of AFS and DYC under changing vehicle states, and some research may not sufficiently consider the dynamic characteristics of the vehicle subsystems. Game theory is an effective method for dealing with the interaction of multiple agents, which provides a system control framework for this kind of cooperative control problem [10]. Since the AFS and DYC-based stability controller generally operate in an interactive manner as the vehicle travels ahead in a road tracking scenario, dynamic game theory should be applied.Dynamic game theory is an optimal approach based on the decision theory and the rules of dynamic game, as defined by Cruz [11] and Basar [12]. There exist three core principles in the dynamic game theory [13]: (1) Each player's attitude towards his own as well as others' interests. (2) Each player's strategy adopted for pursuing their goal. (3) Each player's knowledge received about the state of the system during the game process. Based on these principles, different kinds of game rules are formed, such as for a noncooperative game and a cooperative game. (Due to limited space, for more details about game theory we refer readers to [13] and [14].) Assume that each subsystem aims to achieve individual rationality and to maximize the vehicle stability in its own way. Thus, this work mainly focuses on noncooperative game theory.Noncooperative game theory has been widely studied to solve problems involving multiple individuals where their welfare is interactional [15]. It is an effective approach to address the problem of control authority allocation for multiple players [12]. Tamaddoni et al. [16,17] designed a vehicle lateral s...

Proceedings of the Institution of Mechanical Engineers, Part D:

“…The electronic stability program (ESP) and traction control system (TCS) in the vehicle safety control system can significantly improve road safety and reduce road accidents [1]. The active front wheel steering (AFS) and direct yaw moment control (DYC) are integrated together to achieve a human-machine-cooperative-driving control (HMCDC) [2]. These control systems, however, usually require the measurement of longitudinal velocity, lateral velocity and yaw rate.…”

Section: Introductionmentioning

confidence: 99%

Non-linear tyre model–based non-singular terminal sliding mode observer for vehicle velocity and side-slip angle estimation

et al. 2018

Non-linear tyre model-based non-singular terminal sliding mode observer for vehicle velocity and side-slip angle estimation" (2019). Faculty of Engineering and Information Sciences -Papers: Part B. 2233. Abstract AbstractVehicle velocity and side-slip angle are important vehicle states for the electronic stability programme and traction control system in vehicle safety control system and for the control allocation method of electric vehicles with in-wheel motors. This paper proposes an innovative side-slip angle estimator based on the non-linear Dugoff tyre model and non-singular terminal sliding mode observer. The proposed estimation method based on the non-linear tyre model can accurately present the tyre's non-linear characteristics and can show advantages over estimation methods based on the linear tyre model. The utilised Dugoff tyre model has a relatively simple structure with few parameters, and the proposed nonlinear observer can be applied in various vehicle tyres and various road conditions. Precise determination of the Dugoff tyre model parameters is not required and the proposed observer can still perform good estimation results even though tyre parameters and the tyre-road friction coefficient are not accurate. The proposed non-singular terminal sliding mode observer can achieve fast convergence rate and better estimation performance than the traditional sliding mode observer. At the end of this paper, simulations in various conditions are presented to validate the proposed non-linear estimator. , "Non-linear tyre model-based non-singular terminal sliding mode observer for vehicle velocity and side-slip angle estimation," Abstract:Vehicle velocity and side-slip angle are important vehicle states for the electronic stability program (ESP) and traction control system (TCS) in vehicle safety control system and for the control allocation method of electric vehicles with in-wheel motors. This paper proposes an innovative side-slip angle estimator based on the non-linear Dugoff tyre model and non-singular terminal sliding mode observer (NS-TSMO). The proposed estimation method based on the non-linear tyre model, can accurately present the tyre's non-linear characteristics and can show advantages over estimation methods based on the linear tyre model. The utilised Dugoff tyre model has a relatively simple structure with few parameters, and the proposed non-linear observer can be applied in various vehicle tyres and various road conditions. Precise determination of the Dugoff tyre model parameters is not required and the proposed observer can still perform good estimation results even though tyre parameters and the tyre-road friction coefficient are not accurate. The proposed NS-TSMO observer can achieve fast convergence rate and better estimation performance than the traditional SMO observer. At the end of this paper, simulations in various conditions are presented to validate the proposed nonlinear estimator.