Abstract
An integrated control algorithm of the differential braking and the active suspension to improve yaw and rollover stability of vehicles with mechanical elastic wheel (ME-Wheel) is developed. By simplifying the structure of ME-Wheel, a fitting tire model named brush model is constructed. Then, a nonlinear 8-DOF vehicle model with ME-Wheel is built up for rollover prevention, which utilizes a predictive load transfer ratio (PLTR) as the rollover index and a Kalman filter is used to eliminate the measurement noise. In order to design an integrated control algorithm, fuzzy proportional-integral-derivative (PID) methodology is adopted by simultaneous control of the yaw and roll motions. The proposed algorithm, based on the idea that makes yaw stability controller and roll stability controller work independently first, then unifies by way of weight according to fuzz control, after that, brake force distributor selects single efficient braking wheel to achieve yaw moment and one of the front braking wheels with varying brake pressure to achieve the desired brake torque and the wheel slip regulator is designed with sliding mode control technique to prevent the wheels from locking; and the active suspension system alters the stiffness of the active suspension to prevent rollover. Simulation results show that the integrated yaw and rollover stability control system could improve the handing stability of vehicle under the limit driving conditions, and prevent rollover happening.
Highlights
It is well known that automobile side slip and rollover are basically typical traffic safety problems
For the design of vehicle yaw stability control (YSC) and rollover stability control (RSC), most methods were considered a certain situation and more attention was focused on the vehicle yaw stability when there is no danger of rollover
In order to overcome those limitations, this paper suggests an integrated control strategy by coordinate YSC and RSC and realize both yaw and rollover stability to the utmost
Summary
It is well known that automobile side slip and rollover are basically typical traffic safety problems. Most of the ESC systems presently adopt active yaw moment control to achieve vehicle yaw stability and they work well only with the tire forces within the friction limit. For the design of vehicle yaw stability control (YSC) and rollover stability control (RSC), most methods were considered a certain situation and more attention was focused on the vehicle yaw stability when there is no danger of rollover. Both vehicle yaw stability and rollover prevention control should be integrated in practice especially in critical steering maneuver course [19].
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