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SANG Nan, WEI Min-xiang. Adaptive control of active front steering and direct yaw moment for vehicle[J]. Journal of Traffic and Transportation Engineering, 2016, 16(3): 91-99. doi: 10.19818/j.cnki.1671-1637.2016.03.011
Citation: SANG Nan, WEI Min-xiang. Adaptive control of active front steering and direct yaw moment for vehicle[J]. Journal of Traffic and Transportation Engineering, 2016, 16(3): 91-99. doi: 10.19818/j.cnki.1671-1637.2016.03.011
shu

Adaptive control of active front steering and direct yaw moment for vehicle

doi: 10.19818/j.cnki.1671-1637.2016.03.011
  • 1.

    School of Energy and Power Engineering, Nanjing University of Aeronautics and Astronautics, Nanjing 210016, Jiangsu, China

  • 2.

    College of Mechanical and Vehicle Engineering, Changzhou Institute of Technology, Changzhou 213002, Jiangsu, China

More Information
  • Author Bio:

    SANG Nan(1969-), male, associate professor, doctoralstudent, +86-25-84892201, sc_sangn@sina.com

    WEI Min-xiang(1963-), male, professor, PhD, +86-25-84892201, weimx@nuaa.edu.cn

  • Received Date: 2016-01-01
  • Publish Date: 2016-06-25
    Abstract
  • An integrated control method of active front steering and direct yaw moment for vehicle was proposed based on Lyapunov theory.An adaptive controller was designed based on the vehicle model with two degrees of freedom.The tire stiffness was adaptively estimated to compensate the nonlinear of tire lateral force.The closed-loop simulation model of vehicle was established based on MATLAB and CarSim software.The sinusoidal input simulation test was carried out on road.Simulation result shows that when adhesion coefficient is 0.8 and speed is 100 km·h-1, the maximum error of front axle lateral force is 210 Nand about 8.1% of front axle actual lateral force, and the maximum error of back axle lateral force is 296 Nand about 8.5% of back axle actual lateral force.When adhesion coefficient is 0.3 and speed is 80 km·h-1, the maximum error of front axle lateral force is 146 Nand about 8.5% of front axle actual lateral force, and the maximum error of back axle lateral force is 142 Nand about 9.8% of back axle actual lateral force.The integrated control effects of active front steering and direct yaw moment are better than the individually control effects of active front steering and direct yaw moment.

     

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