Controlling the vertical shift of an isolated body based on the vibration of nonlinear systems with asymmetric damping forces

Li, Zhihong; Yao, Jialing; Xu, Yun

doi:10.1007/s11012-022-01496-7

Cited by 5 publications

(3 citation statements)

References 18 publications

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“…In fact, as early as the 1980s, rail trains have begun to apply the active tilting technology [ 27 ], and the research showed that the inward roll angle of 1 ~ 2° can ensure that the rail train can pass through the curve at a high enough speed [ 28 , 29 ]. For narrow commuter vehicle (NCV), which usually takes zero roll angle as the control target, the handling stability of the vehicle can be significantly improved as long as it tilts inward by 1 ~ 2° [ 30 , 31 ].…”

Section: Introductionmentioning

confidence: 99%

Research on trajectory tracking and body attitude control of autonomous ground vehicle based on differential steering

Tian

Yang

2023

PLoS ONE

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The differential steering can be used not only as the backup system of steer-by-wire, but also as the only steering system. Because the differential steering is realized through the differential moment between the coaxial left and right driving wheels, the sharp reduction of the load on the inner driving wheel will directly lead to the failure of the differential steering when the four-wheel independent drive electric vehicle approaches the rollover. Therefore, this paper not only realizes the trajectory tracking of autonomous ground vehicle through the differential steering, but also puts forward the body attitude control to improve the handling stability. Firstly, the dynamic and kinematic models of differential steering autonomous ground vehicle (DSAGV) and its roll model are established, and the linear three-degree of freedom vehicle model is selected as the reference model to generate the ideal body roll angle. Secondly, a model predictive controller (MPC) is designed to control the DSAGV to track the given reference trajectory, and obtain the required differential moment and the resulting front-wheel steering angle. Then, a sliding mode controller (SMC) is adopted to control the DSAGV to track the ideal body roll angle, and obtain the required roll moment. The simulation results show that the proposed MPC and SMC can not only make the DSAGV realize the trajectory tracking, but also achieve the body attitude control.

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Section: Introductionmentioning

confidence: 99%

Research on trajectory tracking and body attitude control of autonomous ground vehicle based on differential steering

Tian

Yang

2023

PLoS ONE

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“…For the common high-speed lane-change maneuvers on the highway, it requires the tractor-semitrailer can change to the adjacent lane at a speed of not less than 80 km/h, and sometimes even requires the tractor-semitrailer to realize continuous lane-change maneuvers at high speed. This process involves the instantaneous turning of the vehicle, and the probability of the tractor-semitrailer instability will greatly increase, often causing serious traffic accidents [1][2][3][4]. Therefore, the high-speed driving stability of tractor-semitrailers has always been a hot topic for scholars at home and abroad [5][6][7].…”

Section: Introductionmentioning

confidence: 99%

Lateral Stability Control of a Tractor-Semitrailer at High Speed

Cai

2022

Machines

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To improve the high-speed lateral stability of the tractor-semitrailer, a lateral stability control strategy based on the additional yaw moment caused by differential braking is proposed and investigated based on the co-simulation environment. First of all, a five-degree-of-freedom (5-DOF) yaw-roll dynamic model of the tractor-semitrailer is established, and the model accuracy is verified. Secondly, the lateral stability control strategy of the tractor-semitrailer is proposed, two yaw moment controllers and the braking torque distributor are designed. Then, the effectiveness of the proposed control strategy and the influence of the yaw moment controller on the lateral stability of the tractor-semitrailer are investigated under the high-speed lane-change maneuvers. Finally, the controller robustness is discussed. Research results show that the proposed high-speed lateral stability control strategy can ensure the tractor-semitrailer to perform safely the single lane-change (SLC) maneuver at 110 km/h and the double lane-change (DLC) maneuver at 88 km/h; the yaw moment controller has significant influence on the lateral dynamic performance of the tractor-semitrailer; compared with the proportional-derivative (PD) control, the model predictive control (MPC) can make the tractor-semitrailer obtain better lateral stability under high-speed lane-change maneuvers; MPC and PD controllers exhibit good robustness to the considered vehicle parameter uncertainties.

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“…Existing methods for improving vehicles' lateral stability or the trajectory tracking performance mainly include the active suspension method [4][5][6], the compliance steering or passive steering of the rear axles or wheels [7][8][9], the differential braking method [10,11], the active steering of the rear axles or wheels [12][13][14], and the parameter and state estimation for vehicles [15][16][17]. The active suspension method usually consumes a lot of energy, and the response speed is relatively slow, which is not practical for articulated heavy vehicles (AHVs).…”

Section: Introductionmentioning

confidence: 99%

High-speed lateral stability and trajectory tracking performance for a tractor-semitrailer with active trailer steering

Hou

Xu²

2022

PLoS ONE

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An active trailer steering (ATS) controller is investigated to improve the lateral stability and trajectory tracking performance of the tractor-semitrailer. First of all, a linear yaw-roll dynamic model of the tractor-semitrailer with steerable trailer wheels is established, and the model accuracy is verified. Then a linear quadratic regulator (LQR) for actively steering the trailer’s wheels is designed. For the LQR controller, the lateral acceleration and the sideslip angle at the center of gravity (CG) of the trailer are taken as the optimization objectives, and the steering angle of the wheel on the middle axle of the trailer is set as the control input. Finally, the effectiveness of the designed controller is tested based on the co-simulation platform under the single lane-change (SLC) maneuver at the speed of 100 km/h and the double lane-change (DLC) maneuver at the speed of 80 km/h and 88km/h. Research results show that under the high-speed SLC maneuver, the designed LQR controller can significantly improves the lateral stability and trajectory tracking performance of the trailer, and cannot affect apparently the trajectory and dynamic responses of the tractor. Under the high-speed DLC maneuver, the designed controller can still make the tractor-semitrailer reach a new steady state in a short time, and improve the vehicle lateral stability and the trajectory tracking performance of the trailer at the same time.

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Controlling the vertical shift of an isolated body based on the vibration of nonlinear systems with asymmetric damping forces

Cited by 5 publications

References 18 publications

Research on trajectory tracking and body attitude control of autonomous ground vehicle based on differential steering

Research on trajectory tracking and body attitude control of autonomous ground vehicle based on differential steering

Lateral Stability Control of a Tractor-Semitrailer at High Speed

High-speed lateral stability and trajectory tracking performance for a tractor-semitrailer with active trailer steering

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