Abstract
In view of the higher and higher assembly rate of the electronic stability control system (ESC in short), the control accuracy still needs to be improved. In order to make up for the insufficient accuracy of the tire model in the nonlinear area of the tire, in this paper, an algorithm for the electronic stability control system based on the control of tire force feedforward used in conjunction with tire force sensors is proposed. The algorithm takes into consideration the lateral stability of the tire under extreme conditions affected by the braking force. We use linear optimal control to determine the optimal yaw moment, and obtain the brake wheel cylinder pressure through an algorithm combining feedforward compensation based on measured tire force and feedback correction. The controller structure is divided into two layers, the upper layer is controlled by a linear quadratic regulator (LQR in short) and the lower layer is controlled by PID (Proportional-integral-derivative) and feedforward. After that, verification of the controller’s algorithms using software cosimulation and hardware-in-the-loop (HIL in short) testing in the double lane change (DLC in short) and sine with dwell (SWD in short) conditions. From the test results it can be concluded that the controller based on tire force observation has partially control advantages.
Highlights
Electronic stability control (ESC) is an active safety system that controls the braking of the wheels to adjust the body’s posture under extreme conditions
In the case of high road adhesion coefficient, no significant difference in the following of nominal yaw rate between ESC controller based on tire force observation and conventional of nominal yaw rate between controller based on tire force observation and conventional of control, nominaland yaw rate between controller based on tire force observation and conventional there are small fluctuations in the yaw rate for both control methods
26, it can be after the controller control as well as a small range of fluctuation, this is caused by a delay in the brake concluded that there is a certain discrepancy between the yaw rate of actual value and nominal value hydraulic circuit forcontrol a certain period time,range insufficient response to is high frequency braking signals, after the controller as well as aofsmall of fluctuation, this caused by a delay in the brake and inconsistent response of the front and rear wheels to braking pressure
Summary
Electronic stability control (ESC) is an active safety system that controls the braking of the wheels to adjust the body’s posture under extreme conditions. Sungyeon Ko et al of Sungkyunwan University proposed a method for a vehicle stability control algorithm for an in-wheel independent drive vehicle using vehicle speed and yaw rate during turning [3]. Ming Yue et al introduced a supervisory mechanism for yaw moment control and slip rate adjustment, and proposed a novel control strategy to improve the stability performance of four-wheel independent drive electric vehicles during critical cornering [5]. Based on the consideration of the longitudinal and lateral adhesion limits of the tires, the optimal yaw moment is determined by linear optimal control, and the brake wheel cylinder pressure is obtained by the algorithm combining feedforward compensation and feedback correction.
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