Fractional Calculus Control of Road Vehicle Lateral Stability after a Tire Blowout

Li, Bing Lin; Zeng, Li

doi:10.5755/j02.mech.28524

Cited by 11 publications

(9 citation statements)

References 11 publications

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“…To derive the linear dynamic model of the tractor-semitrailer, the assumptions have been made as follows: (1) the forward speeds of the tractor and the semitrailer are identical, and at a constant speed under the simulated test maneuvers; (2) the steering angle δ 1f of the tractor front wheel is small; (3) the pitch and bounce motions, braking forces, and aerodynamic forces are ignored; (4) the articulation angle θ between the tractor and the semitrailer is small; (5) the roll stiffness and damping coefficients of the suspension systems for the tractor-semitrailer are constant in the range of roll motions involved. Based on the coordinate systems x 1 -y 1 -z 1 and x 2 -y 2 -z 2 , the governing equations for motions of the tractor and trailer can be generated in Eqs (1) and (2).…”

Section: Linear Yaw-roll Model Of the Tractor-semitrailermentioning

confidence: 99%

“…Tractor-semitrailers have become one of the most essential means in highway transportation because of their large cargo capacity and good transportation economy. However, due to their sizeable dead weight and volume, the high center of gravity (CG), and the mutual interference of force and motion between the tractor and the trailer, the tractor-semitrailers are prone to lateral instability and serious traffic safety accidents [1][2][3]. Given this, scholars at home and abroad have carried out a large number of studies on the improvement of high-speed lateral stability of the tractor-semitrailers and the trajectory tracking performance of the trailers.…”

Section: Introductionmentioning

confidence: 99%

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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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Section: Linear Yaw-roll Model Of the Tractor-semitrailermentioning

confidence: 99%

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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“…The PID control method is a widely used automatic controller that controls by proportional (P), integral (I), and differential (D) of deviation, which has the advantages of simple principle, easy implementation, wide applicability, and relatively independent control parameters [20,21]. Figure 1 and Figure 2 show the PID control schematic and feedforward PID control framework, respectively, in which the proportional link can reflect the state deviation of the controlled object in a timely and proportional manner, the integral link improves the non-differential degree of the controlled object through the memory of the state deviation, the differential link can reflect the trend of the state deviation to speed up the system action, and the feedforward control can compensate the disturbance and weaken the effect of the disturbance on the system output [22].…”

Section: Pid Algorithmmentioning

confidence: 99%

A Review of Autonomous Vehicle Path Tracking Algorithm Research

CHEN

Zheng

2022

Preprint

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Driverless technology aims to improve driving safety, accuracy and comfort. Path tracking is a basic component of the motion control module of autonomous vehicles, and its control algorithm directly affects the path tracking effect. Based on the preliminary results of the application of path tracking control algorithm, this paper analyzes the principles, advantages and disadvantages, applications and current research progress of the path tracking algorithm under different working conditions from the perspective of different working conditions at low speed and high speed, and provides an outlook on the future development, aiming to provide reference for future in-depth research.

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“…Common control methods include optimal control [ 30 ], sliding mode control [ 31 ], PID control [ 32 ], and fuzzy control [ 33 ], etc. Gao [ 34 ] used the concept of frequency scale to linearize the traditional active disturbance rejection control and proposed linear active disturbance rejection control (LADRC).…”

Section: Vehicle Height Control Based On Third-order Ladrcmentioning

confidence: 99%

Research and application of a new method for adjusting the vehicle body height

Yao

2022

PLoS ONE

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The use of active suspension for vehicle height adjustment has problems of high cost, high energy consumption, slow response, and complex structure. This paper proposes a new method for adjusting the vehicle body using the damping asymmetric characteristic of semi-active suspensions, which is based on the idea that the dampers with damping asymmetric characteristics will cause a change in the mean position of the vehicle body vibration. To verify the feasibility of this method, a single-wheel vehicle model containing asymmetric damping is established. The system’s responses under the sinusoidal and random roads excitation are obtained by the fourth-order Runge-Kutta method, the influences of key parameters on the vehicle body’s shifting height are analyzed, and the mechanism of vehicle body’s shift is explained from the perspective of energy conservation. Then a vehicle body height controller based on third-order linear active disturbance rejection control (LADRC) is designed. Simulation results show that the proposed method for controlling the vehicle height with asymmetric damping can quickly adjust the vehicle to the expected height whether under the sinusoidal road or random road. In addition, no additional hardware and energy consumption are required, providing a new idea for vehicle height control.

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Fractional Calculus Control of Road Vehicle Lateral Stability after a Tire Blowout

Cited by 11 publications

References 11 publications

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

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

A Review of Autonomous Vehicle Path Tracking Algorithm Research

Research and application of a new method for adjusting the vehicle body height

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