Combined Tire Slip and Slip Angle Tracking Control for Advanced Vehicle Dynamics Control Systems

Abstract

This paper describes a combined tire longitudinal slip and lateral slip angle tracking control approach as part of an overall advanced vehicle dynamics control system. Nonlinear sliding mode control is used to manipulate the driving/braking/steering of each wheel to track slip and slip angles specified by a higher-level controller and a control allocation algorithm. Controlling slip and slip angles, which depend on individual wheel and vehicle dynamic states, relies on a tire model to estimate the induced tire longitudinal and lateral forces as well as self-aligning moment. Further, vehicle body states are treated here as exogenous signals independent of the slip/slip angle controller in order to isolate and simplify the control design. The performance of this control approach is evaluated and compared against results for conventional vehicle control systems in a full-vehicle CarSim R model simulation.Improved performance is observed under an adverse split-" hard braking scenario.

Comprehensive chassis control strategy of FWIC‐EV based on sliding mode control

“…However, when a driver executes steering manoeuver, Wang and Longoria [25] indicate that the accumulation of yaw rate errors results in an undesirable deviation from the yaw angle of the vehicle, greatly affecting the accuracy of the vehicle tracking. To solve this situation, it is necessary to consider the tracking error of the yaw angle in the yaw motion control of the vehicle.…”

“…As a matter of fact, the vehicle tyre is an elastic body, the elastic tyre is inevitably deformed laterally due to the presence of the lateral force during the steering condition, resulting in the sideslip angle that produces the certain influence on steering manoeuvre of the vehicle and tyre wear. Therefore, considering the impact of tyre sideslip on Ackerman steering relationship [25], the actual steering relationship of the vehicle is shown in Fig. 7.…”

“…Bring (20) into (19), and based on (21)- (25), the relationship between left and right wheel steering angles δ fl and δ fr can be obtained at any speed of the vehicle in the process of cornering…”

A global optimization algorithm for energy-efficient control allocation of over-actuated systems

“…Like the process in the single-mode case, similar steps were implemented to solve (16) by plugging in the piece-wise linear efficiency function (13). Then, comparison with trivial solutions will give the global optimal solutions.…”

“…Many existing physical systems, such as marine vessels [6] [7], airplanes [8][9] [10], and ground vehicles [11]- [16], can be classified as over-actuated systems because redundant actuators are utilized to improve system performance, reliability and reconfigurablity.…”