Damping of vehicle roll dynamics by gain scheduled active steering

Ackermann, J.; Odenthal, Dirk

doi:10.23919/ecc.1999.7099975

Cited by 40 publications

(32 citation statements)

References 6 publications

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“…The brake actuators and the dynamics of the steering system are also modelled. The wheel dynamics is the same as presented in (2). The tire friction model is the Burckhardt [4] model that describes both longitudinal and lateral tire-forces.…”

Section: Analysis On a Test Maneuvermentioning

confidence: 99%

“…One of these methods employs active anti-roll bars, that is, a pair of hydraulic actuators which generate a stabilizing moment to balance the overturning moment, see [1,9,12]. Another method applies active steering since it affects lateral acceleration directly, see [3], [2]. The third method applies an electronic brake mechanism to reduce the lateral tire forces acting on the outside wheel, see [5,6,10].…”

Section: Introductionmentioning

confidence: 99%

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The design of a brake control to improve road holding

Rödönyi

Gáspár

2008

Per. Pol. Transp. Eng.

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A robust control synthesis method is presented for an emergency steer-by-brake problem of a heavy truck. The goal is to provide automated steering function for a truck with a mechanic-pneumatic steering system, where the only possibility for automated intervention is the use of the electronic brake system. This problem is motivated by situations when the driver becomes incapable of controlling the vehicle due to some lipothymy or drowsiness. Assuming an emergency detection system and a higher level control strategy that defines yaw-rate reference for navigating the vehicle, the low level reference tracking control is designed by the H ∞ method and illustrated by Matlab/Simulink simulation.

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Section: Analysis On a Test Maneuvermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

The design of a brake control to improve road holding

Rödönyi

Gáspár

2008

Per. Pol. Transp. Eng.

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“…Ackermann, Bünte, and D. Odenthal (1999), J. Ackermann and Bünte (1997), Jürgen Ackermann (1998), Jürgen Ackermann and Dirk Odenthal (1999). Yaw attenuation refers to when the yaw rate is no longer observable from the lateral acceleration of the front axle.…”

Section: Active Safety and Increased Comfortmentioning

confidence: 99%

On Electrohydraulic Pressure Control for Power Steering Applications : Active Steering for Road Vehicles

Dell’Amico¹

2016

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This thesis deals with the Electrohydraulic Power Steering system for road vehicles, using electronic pressure control valves. With an ever increasing demand for safer vehicles and fewer traffic accidents, steering-related active safety functions are becoming more common in modern vehicles. These are functions that aim at assisting the driver in more or less critical situations and could be anything from applying a guiding steering torque to taking over the steering completely. Future road vehicles will also evolve towards autonomous vehicles, with several safety, environmental and financial benefits. A key component in realising such solutions is active steering. This refers to the possibility to control the steering angle or steering torque with an electronic signal.The power steering system was initially developed to ease the driver's workload by assisting in turning the wheels. This is traditionally done through an open-centre hydraulic system and heavy trucks must still rely on fluid power, due to the heavy work forces. The system provides a robust solution but suffers from poor energy efficiency and lacks the possibility of active control. Since the purpose of the original system is to control the assistive pressure, one way would be to use proportional pressure control valves. Since these are electronically controlled, active steering is possible and with closed-centre, energy efficiency can be significantly improved on.In this work, such a system is analysed in detail with the purpose of investigating the possible use of the system for Boost curve control, the most common control strategy in power steering systems, and position control for autonomous driving. Commercially available valves are investigated since they provide an attractive solution. A model-based approach is adopted, where simulation of the system is an important tool. Detailed models at both a component level and a system level are developed and form the basis of the analysis and control design. Another important tool is hardware-in-the-loop simulation. A test rig of the system, that also includes the original system, is developed. The rig supports the modelling and validation process, as it also makes it possible to verify control concepts on a real system. This work has shown how proportional pressure control valves can be used for Boost curve control and position control and what implications this has i on a system level. As it turns out, the valves add a great deal of phase shift and with the high gain from the Boost curve, this creates a control challenge. The problem can be handled by tuning the Boost gain, pressure response and damping and has been effectively shown through simulation and experiments. For position control, there is greater freedom to design the controller to fit the system. The pressure response can be made fast enough for this case and the phase shift is much less critical.Keywords: Electrohydraulic power steering, pressure control, closed-centre steering, Boost curve control, autonomous driving, hardware-...

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“…Moreover, the steering angle has been selected as input of the simulation model. Amongst the standard testing maneuvers, the Fishhook maneuver was the most repeatable of all rollover resistance maneuvers performed in the study [4,5]. Cornering represents a dangerous situation when a vehicle attempts to turn a corner quickly.…”

Section: Introductionmentioning

confidence: 99%

The Rollover Control Design for Commercial Truck Using Different Controller Applications / Farklı Kontrolör Uygulamaları Kullanarak Ticari Kamyon için Rollever Kontrol Tasarımı

Sert¹,

Dileroglu²,

Kaya³

2016

IJAET

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Studies have shown that road accidents usually result in rollover. Therefore, the rollover dynamic is one of the most significant vehicle dynamic issues. The main objective of this study is to increase the safety margin of the commercial vehicle based on controlling the steering angle. The two-wheel vehicle model have been performed in order to obtain yaw rate and body lateral slip angle. Then, rollover model have been performed in order to obtain roll angle and roll rate of the vehicle during maneuvers. After Linear quadratic regulator and pole placement control system were used as the controller, uncontrolled system result was compared with the results of the two different controlled systems. The results indicate that pole placement controller gives better results than LQR in specific case.

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Damping of vehicle roll dynamics by gain scheduled active steering

Cited by 40 publications

References 6 publications

The design of a brake control to improve road holding

The design of a brake control to improve road holding

On Electrohydraulic Pressure Control for Power Steering Applications : Active Steering for Road Vehicles

The Rollover Control Design for Commercial Truck Using Different Controller Applications / Farklı Kontrolör Uygulamaları Kullanarak Ticari Kamyon için Rollever Kontrol Tasarımı

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