Electric stability control (ESC) can be used for rollover prevention via coupled interactions of yaw and roll dynamics. A sliding mode controller based on a three-degree-of-freedom (3DOF) yaw plane model is proposed in this paper. The longitudinal dynamics is included in the 3DOF model to release the constant speed constraint of the standard bicycle model. The sliding surface consists of yaw rate following error, sideslip angle, and lateral acceleration. Three trigger rules are used to activate the control action. CarSim is used to evaluate the proposed approach under ISO 3888-2 and NHTSA Fishhook maneuvers in Matlab/Simulink. Robustness due to increased C.G. height, mass, and inertia is also investigated in this paper. The preliminary results show promising improvement for rollover prevention while meeting the requirement of yaw motion control.
Sliding-mode control design of electric stability control for rollover prevention
2008
7 Seiten, 11 Bilder, 1 Tabelle, 16 Quellen
Conference paper
English
Design of electronic stability control for rollover prevention using sliding mode control
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