In this paper, a VSC (Vehicle Stability Control) strategy that quantifies and uses axle saturation levels is presented and compared to an established yaw rate error-based approach. The computation of the saturation levels is based on commonly available vehicle dynamics sensors and established force and slip angle estimation methods that use a 2 DOF vehicle model. The following observations are made regarding the axle saturation balancing control strategy proposed and analysed in this paper. (1) The saturation-balancing control method attempts to mimic desirable linear response by minimising non-linear contributions from the saturating behaviour of the tyres on a two-axle vehicle. (2) Unlike the established yaw rate error-based approaches, the saturation-balancing controller does not use an explicit reference model to generate a desired/target response. However, it is shown that the saturation-balancing control method internally uses an 'equivalent' desired or target yaw rate that takes into account the non-linear tyre force estimates. In so doing, the method also accounts for and accommodates variations in tyre-road friction without explicitly computing a friction coefficient. (3) Computed axle saturation levels in an aggressive manoeuvre negotiated with the axle saturation-balancing controller and the baseline yaw rate error-based controller indicate that the former is better at managing the axle saturation levels.
A saturation-balancing control method for enhancing dynamic vehicle stability
International Journal of Vehicle Design ; 61 , 1-4 ; 47-66
2013
20 Seiten, 11 Bilder, 31 Quellen
Article (Journal)
English
A saturation–balancing control method for enhancing dynamic vehicle stability
Online Contents | 2013
|A saturation-balancing control method for enhancing dynamic vehicle stability
Automotive engineering | 2013
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