This paper deals with the new concept for vehicle dynamics control (VDC) design for passenger vehicles. The control of the longitudinal vehicle dynamics is not discussed, since we are assuming that it is much slower and weakly coupled to the lateral and yawing dynamics. The actuators are considered to be the traction and the braking torgues of the individual wheels and only the standard sensor of the common VDC system are used. A modular interface to the subordinate wheel control system is provided by choosing the yaw torque as a fictitious control input. The VDC system is designed by means of a two degrees-of-freedom control scheme. It comprises a flatness-based feedforward part and a stabilising feedback part. The reference trajectory generation is introduced for the flat out which is given by the lateral velocity of the vehicle. Thus an advantegeous kind of body side-slip angle control is provided with the standard VDC system hardware. Extensive simulation studies show excellent performance of the designed control concept.
A new flatness-based control of lateral vehicle dynamics
Eine neue flachheitbasierte Querdynamikregelung von Personenkraftwagen
Vehicle System Dynamics ; 46 , 9 ; 789-801
2008
13 Seiten, 6 Bilder, 32 Quellen
Aufsatz (Zeitschrift)
Englisch
Anwendung im Fahrzeugbau , Fahrzeugdynamik , Freiheitsgrad , Bahnkurve , Schnittstelle , Pkw (Personenkraftwagen) , Steuerungs- und Regelungssystem , Rechnersimulation , Gierbewegung , Fahrverhalten , Steuerung und Regelung , mathematisches Modell , nichtlineare Optimierung , ABS (Antiblockiersystem) , Antriebsregler
A new flatness-based control of lateral vehicle dynamics
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