Development and Validation of Electronic Stability Control System Algorithm Based on Tire Force Observation

Lu, Dan; Ma, Yao; Yin, Hengfeng; Deng, Zongquan; Qi, Jiande

doi:10.3390/app10238741

Cited by 3 publications

(3 citation statements)

References 13 publications

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“…There, the authors determine the parameters of the car speed and roll angle at which can be avoided the car mass center shifting to the point at which overturns of the car will occur. The authors of [3,4] solve the problem of preventing the car from skidding when cornering using nonlinear dynamic models of reactions of forces in the tires during sliding when cornering. In [5], in addition A B S T R A C T Object of research: the process of movement of cars with internal combustion engines or the electric drive on a road curve.…”

Section: Problem Descriptionmentioning

confidence: 99%

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Integration of kinematic and dynamic mathematical models of a two-axle electric car in the problem of estimating its stability on turns

Horeniuk

2021

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Object of research: the process of movement of cars with internal combustion engines or the electric drive on a road curve. Investigation problem: assessment of the stability of cars with internal combustion engines or electric drive on a road curve and determination of conditions of its ensuring. The main scientific result. The article evaluated the stability of cars with internal combustion engines or electric drive on a road curve and determines the conditions of its ensuring using an algorithm that combines mathematical models of car movement on a road curve, synthesized based on balance equations of both kinematics and dynamics. The proposed models consider the change in speed of cars while driving on a road curve, and therefore belong to the class of differential equations. The analysis of these models allows calculating changes in time of values of limiting and critical speeds of movement of the car on a road curve. The article identifies the prospects of integration into this set of mathematical models another one, synthesized in the space of linguistic variables that characterize the uncertainty of the road surface and the degree of tire wear on different wheels of the car. The area of practical application of the research results: Automotive enterprises specializing in equipping cars with traffic control systems. Innovative technological product: A method of determining the limiting parameters of movement of the car on road curves, at which the car does not overturn while passing turns, and an algorithm for its implementation, which combines kinematic and dynamic mathematical models of car movement on the road curve. Scope of application of the innovative technological product: Equipping cars with additional control systems that assess the critical values of the traffic parameters on turns to ensure the conditions of non-overturning when the car passes these turns

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Section: Problem Descriptionmentioning

confidence: 99%

“…However, all three works used a two-wheeler car model, which is simplified. Since the works [1][2][3][4][5] consider only or the car overturning or its skidding, so it was decided to develop a four-wheel car model that will consider both cases.…”

Section: Problem Descriptionmentioning

confidence: 99%

Integration of kinematic and dynamic mathematical models of a two-axle electric car in the problem of estimating its stability on turns

Horeniuk

2021

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“…HIL (hardware-in-the-loop) techniques are being increasingly used for testing and simulation of complex systems, such as power electronics [1][2][3][4] and mechanical elements [5][6][7][8]. These techniques consist in replacing an element of the real system with a model.…”

Section: Introductionmentioning

confidence: 99%

Modeling of Deadtime Events in Power Converters with Half-Bridge Modules for a Highly Accurate Hardware-in-the-Loop Fixed Point Implementation in FPGA

2021

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Hardware-in-the-loop (HIL) simulations of power converters must achieve a truthful representation in real time with simulation steps on the order of microseconds or tens of nanoseconds. The numerical solution for the differential equations that model the state of the converter can be calculated using the fourth-order Runge–Kutta method, which is notably more accurate than Euler methods. However, when the mathematical error due to the solver is drastically reduced, other sources of error arise. In the case of converters that use deadtimes to control the switches, such as any power converter including half-bridge modules, the inductor current reaching zero during deadtimes generates a model error large enough to offset the advantages of the Runge–Kutta method. A specific model is needed for such events. In this paper, an approximation is proposed, where the time step is divided into two semi-steps. This serves to recover the accuracy of the calculations at the expense of needing a division operation. A fixed-point implementation in VHDL is proposed, reusing a block along several calculation cycles to compute the needed parameters for the Runge–Kutta method. The implementation in a low-cost field-programmable gate arrays (FPGA) (Xilinx Artix-7) achieves an integration time of 1μs. The calculation errors are six orders of magnitude smaller for both capacitor voltage and inductor current for the worst case, the one where the current reaches zero during the deadtimes in 78% of the simulated cycles. The accuracy achieved with the proposed fixed point implementation is very close to that of 64-bit floating point and can operate in real time with a resolution of 1μs. Therefore, the results show that this approach is suitable for modeling converters based on half-bridge modules by using FPGAs. This solution is intended for easy integration into any HIL system, including commercial HIL systems, showing that its application even with relatively high integration steps (1μs) surpasses the results of techniques with even faster integration steps that do not take these events into account.

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Decoupling Control of Yaw Stability of Distributed Drive Electric Vehicles

Wang,

Liu,

Yang

et al. 2024

WEVJ

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Most of the research on driving stability control of distributed drive electric vehicles is based on a yaw motion design controller. The designed controller can improve the lateral stability of the vehicle well but rarely mentions its changes to the roll and pitch motion of the body, and the uneven distribution of the driving force will also cause instability in the vehicle speed, resulting in wheel transition slip, wheel sideslip, and vehicle stability loss. In order to improve the spatial stability of distributed-driven electric vehicles and resolve the control instability caused by their motion coupling, a decoupled control strategy of yaw, roll, and pitch motion based on multi-objective constraints was proposed. The strategy adopts hierarchical control logic. At the upper level, a yaw motion controller based on robust model predictive control, a roll motion controller, and a pitch motion controller based on feedback optimal control are designed. In the lower level, through the motion coupling analysis of the vehicle yaw control process, based on the coupling analysis, the vehicle yaw, roll, and pitch decoupling controller based on multi-objective constraints is designed. Finally, the effectiveness of the decoupling controller is verified.

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Development and Validation of Electronic Stability Control System Algorithm Based on Tire Force Observation

Cited by 3 publications

References 13 publications

Integration of kinematic and dynamic mathematical models of a two-axle electric car in the problem of estimating its stability on turns

Integration of kinematic and dynamic mathematical models of a two-axle electric car in the problem of estimating its stability on turns

Modeling of Deadtime Events in Power Converters with Half-Bridge Modules for a Highly Accurate Hardware-in-the-Loop Fixed Point Implementation in FPGA

Decoupling Control of Yaw Stability of Distributed Drive Electric Vehicles

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