Vehicle stability control based on chassis multiple subsystem coordinated control

ZHAO Shu-en; LI Yu-ling; YU Qiang

doi:10.19818/j.cnki.1671-1637.2015.04.010

Volume 15 Issue 4

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ZHAO Shu-en, LI Yu-ling, YU Qiang. Vehicle stability control based on chassis multiple subsystem coordinated control[J]. Journal of Traffic and Transportation Engineering, 2015, 15(4): 77-85. doi: 10.19818/j.cnki.1671-1637.2015.04.010

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ZHAO Shu-en, LI Yu-ling, YU Qiang. Vehicle stability control based on chassis multiple subsystem coordinated control[J]. Journal of Traffic and Transportation Engineering, 2015, 15(4): 77-85. doi: 10.19818/j.cnki.1671-1637.2015.04.010

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Vehicle stability control based on chassis multiple subsystem coordinated control

doi: 10.19818/j.cnki.1671-1637.2015.04.010

1.
School of Mechantronics and Automobile Engineering, Chongqing Jiaotong University, Chongqing 400074, China
2.
School of Automobile, Chang'an University, Xi'an 710064, Shaanxi, China

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Author Bio:
ZHAO Shu-en(1972-), male, associate professor, PhD, +86-23-62652478, zse0916@163.com
Received Date: 2015-02-20
Publish Date: 2015-04-25

Abstract

Abstract

Based on the differences of chassis key subsystems influences on vehicle stability and effective acting regions, the nonlinear characteristic of tires and the dynamics coupling relation among vehicle chassis subsystems were comprehensively considered, and the 14-DOF full vehicle model was built.Nonlinear H∞ control and fuzzy control were separately utilized for chassis steering, braking and suspension to study the control performances.Multi-level hierarchical control theory was adopted to establish vehicle stability coordinated control system including organization, coordination and execution level.Sliding mode control theory and inverse tire model were used to translate the generalized target control forces and moments from organization level into tire sideslip angle and slip ratio.Based on the principle of function distribution, the control function of each subsystem was coordinated, the function decoupling of vehicle chassis complex system was realized, and full vehicle stability coordinated control system was simulated.Simulation result shows that the control effect on vehicle stability by combined control of ABS(anti-lock braking system)and SAS(semi-active suspension system)is relatively poor, butjoining AFS(active front steering)can significantly improve vehicle handling stability.Compared to vehicle chassis subsystem combined control, multi-level hierarchical coordinated control can improve vehicle stability preferably, reduce the braking distance and keep the slip ratio near the target value 0.2basically.
- vehicle engineering,
- vehicle dynamics,
- multi-level hierarchical control,
- function distribution,
- stability

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References

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Vehicle stability control based on chassis multiple subsystem coordinated control

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