A VDC (Vehicle Dynamics Control) system is developed for tracking desired vehicle behaviour by applying the brake torque to either the rear left side or the rear right side of the vehicle. The cascade structure of control system consists of yaw moment major controller and wheel slip minor controller. The LQR (Linear Quadratic Regulator) theory is exploited for yaw moment controller and the sliding mode theory is applied for wheel slip controller design. The use of yaw moment control was investigated by regulating the wheel slip ratio for improving handling and stability of vehicle. An 8-DOF (Degree-Of-Freedom) nonlinear vehicle model incorporating Magic Formula tire model was constructed through Simulink for the plant. The performance of the control system is evaluated under various emergency manoeuvres and road conditions through pure computer simulations and HIL (Hardware In-the-Loop) simulation system. The results indicate the proposed system can significantly improve vehicle stability for active safety. The proposed control system can guarantee a high robustness with respect to the change of road surface condition and various severe driving conditions such as J-turn and lane change manoeuvres.


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    Title :

    Controller design for vehicle stability enhancement


    Additional title:

    Regelungsentwurf für die Verbesserung der Fahrzeugstabilität


    Contributors:
    Zheng, Shuibo (author) / Tang, Houjun (author) / Han, Zhengzhi (author) / Zhang, Yong (author)

    Published in:

    Control Engineering Practice ; 14 , 12 ; 1413-1421


    Publication date :

    2006


    Size :

    9 Seiten, 11 Bilder, 1 Tabelle, 11 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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