Design of an Integrated Yaw-Roll Moment and Active Front Steering Controller using Fuzzy Logic Control

Elhefnawy, A.; Sharaf, A. M.; Ragheb, H.; Hegazy, S.

doi:10.4271/2017-01-1569

Cited by 17 publications

(4 citation statements)

References 18 publications

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“…A nonlinear dynamics vehicle model was established for simulating for different maneuvering simulation. 22 As shown in Figure 1, this model has 14 degrees of freedom (DOF), including longitudinal, lateral and vertical movement, pitch, yaw, roll motion of the body, and the vertical motion and rotation around the vertical axis for each wheel.…”

Section: Simulation Modelmentioning

confidence: 99%

Coordination strategy between AFS and ASB with fault-tolerant mechanism for ground vehicle

Yan

Liu

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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In order to improve the performance of ground vehicle equipped with the active front-wheel steering and active stabilizer bar, the coordination for the two systems has been researched. A layered functional framework is proposed: the upper controller coordinates yaw motion with a designed Fuzzy proportional–integral–derivative controller algorithm correcting the outputs of active front-wheel steering and active stabilizer bar; for the middle subsystems, an ideal steering ratio is designed with the Sigmoid function to achieve the active steering, and a sliding mode algorithm is designed to reduce the roll angle; the bottom actuators achieve the control target from the middle layer. In addition, the upper layer has a rebuilt fuzzy rule-based fault-tolerant mechanism that handles the failure of stabilizer bar actuators to guarantee the stability of roll and yaw motion. Finally, the simulation and rapid-control-prototype test for step steering show that the designed algorithm can ensure roll and yaw performance. In consideration of the accidental failure of active stabilizer bar actuators, by actively adjusting the coordinated rules, the system could overcome the contradiction of coupling control and still maintain yaw and roll stability, which improves the active safety.

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Section: Simulation Modelmentioning

confidence: 99%

Coordination strategy between AFS and ASB with fault-tolerant mechanism for ground vehicle

Yan

Liu

et al. 2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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“…By substituting Eqs. (5), (9) and (10) into Eq. (8), we obtain: The point representing the centre of the universal joint that connects the bar 3 to the actuator 3 (point B 3 ), and the point that represents the centre of the spherical joint that connects the bar 3 to the end-effector (point A 3 ) are obtained by Eqs.…”

Section: Kinematic Modellingmentioning

confidence: 99%

“…Although the ESP is really effective for vehicle stability control and mitigate rollover situations, other means of control, so as active suspension [2][3][4], active steering [5,6] and active camber [7,8], can contribute to vehicle stability control. Furthermore, many studies have shown that nowadays there is a tendency to integrate two or more technologies to achieve stability control [9][10][11][12][13].…”

Section: Introductionmentioning

confidence: 99%

Error analysis for an active geometry control suspension system

Malvezzi

Coelho

2018

J Braz. Soc. Mech. Sci. Eng.

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In order to improve the safety and comfort of passenger cars, many techniques have been proposed. Among them, the utilization of parallel mechanisms in rear suspensions has a great potential to increase the performance and stability of vehicles. In this paper, the error analysis of camber and rear steering angles, due to the use of a 3-DOF parallel mechanism as a vehicle suspension, is developed. Basically, two error sources are taken into consideration here, namely, manufacturing tolerances and actuators inaccuracies. In order to evaluate camber and rear steering angles, a kinematic model is derived. Then, a prediction of errors associated with those angles is conducted by two distinct methods. One method performs an error mapping inside the mechanism workspace, while the other one employs a parametric optimization. Finally, an impact of predicted errors on a vehicle dynamics is evaluated by performing three manoeuvres: steady-state cornering, fishhook and double lane change. The approach presented here and results obtained can contribute to other new researches about vehicle control systems. Keywords Camber error analysis • Rear steering angle error analysis • Automotive suspension • Active chassis systems • Vehicle dynamics • Parallel mechanism List of symbols Latin letters a y Vehicle lateral acceleration (m/s 2) K γ Camber gain (s 2 rad/m) K δ Steering wheel gain (adm) K v Yaw rate factor (s) K roll Auxiliary roll moment gain (Ns 2) M R Auxiliary roll moment at rear axle (Nm) r Vehicle yaw rate (rad/s) Greek letters ε Toe angle (rad) γ Camber angle (rad) δ w Steering wheel angle (rad)

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“…Ahmadian [15] proposed a multistage control scheme based on active forward steering (AFS) and direct yaw moment control (DYC) to maintain vehicle handling and improve yaw stability. Amro [16] proposed an advanced control method, which integrates several fuzzy controllers to improve the vehicle-handling stability: namely, direct yaw moment control (DYC), active roll moment control (ARC) and active forward steering (AFS). Ref.…”

Section: Introductionmentioning

confidence: 99%

Research on Stability Control of Distributed Drive Vehicle with Four-Wheel Steering

Zhang,

Liu,

Zhao

et al. 2024

WEVJ

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The four-wheel steering distributed drive vehicle is a novel type of vehicle with independent control over the four-wheel angle and wheel torque. A method for jointly controlling the distribution of the wheel angle and torque is proposed based on this characteristic. Firstly, the two-degrees-of-freedom model and ideal reference model of four-wheel steering vehicle are established; then, the four-wheel steering controller and torque distribution controller are designed. The rear wheel angle is controlled by the feedforward controller and the feedback controller. The feedforward controller takes the side slip angle of the center of mass as the control target, and the feedback controller takes the yaw angle as the control target. Torque is controlled by two control layers, the additional yaw moment of the upper layer is calculated by the vehicle motion state and fuzzy control theory, and the lower layer distributes wheel torque through the road adhesion coefficient and wheel load. Finally, a simulation platform is established to verify the effectiveness of the proposed control algorithm.

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Design of an Integrated Yaw-Roll Moment and Active Front Steering Controller using Fuzzy Logic Control

Cited by 17 publications

References 18 publications

Coordination strategy between AFS and ASB with fault-tolerant mechanism for ground vehicle

Coordination strategy between AFS and ASB with fault-tolerant mechanism for ground vehicle

Error analysis for an active geometry control suspension system

Research on Stability Control of Distributed Drive Vehicle with Four-Wheel Steering

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