Yaw-roll Model Research Articles

Parameter Identification of Tractor-Semitrailer Model under Steering and Braking

This paper describes a valuable linear yaw-roll tractor-semitrailer (TST) model with five-degree-of-freedom (DOFs) for control algorithm development when steering and braking. The key parameters, roll stiffness, axle cornering stiffness, and fifth-wheel stiffness, are identified by the genetic algorithm (GA) and multistage genetic algorithm (MGA) based on TruckSim outputs to increase the accuracy of the model. Thus, the key parameters of the simplified model can be modified according to the real-time vehicle states by online lookup table and interpolation. The TruckSim vehicle model is built referring to the real tractor (JAC-HFC4251P1K7E33ZTF6×2) and semitrailer (Luyue LHX9406) used in the field test later. The validation of the linear yaw-roll model of a tractor-semitrailer using field test data is presented in this paper. The field test in the performance testing ground is detailed, and the test data of roll angle, roll rate, and yaw rate are compared with the outputs of the model with maps of the key parameters. The results indicate that the error of the tractor’s roll angle and semitrailer’s roll angle between model data and test data is 1.13% and 1.24%, respectively. The roll rate and yaw rate of the tractor and semitrailer are also in good agreement.

The Design of an H∞/LPV Active Braking Control to Improve Vehicle Roll Stability

Abstract The active braking control system is an active safety system designed to prevent accidents and to stabilize dynamic manoeuvers of a vehicle by generating an artificial yaw moment using differential braking forces. In this paper, the yaw-roll model of a single unit heavy vehicle is used for studying the active braking system by using the longitudinal braking force at each wheel. The grid-based LPV approach is used to synthesize the H∞/LPV controller by considering the parameter dependant weighting function for the lateral acceleration. The braking monitor designs are proposed to allow the active braking system to react when the normalized load transfer at the rear axle reaches the criteria of rollover ±1. The simulation results indicate that the active braking system satisfies the adaptation of vehicle rollover in an emergency situation, with low braking forces and improved handling performance of the vehicle.

Multi objective H∞ active anti-roll bar control for heavy vehicles

In the active anti-roll bar control on heavy vehicles, roll stability and energy consumption of actuators are two essential but conflicting performance objectives. In a previous work, the authors proposed an integrated model, including four electronic servo-valve hydraulic actuators in a linear yaw-roll model on a single unit heavy vehicle. This paper aims to design an active anti-roll bar control and solves a Multi-Criteria Optimization (MCO) problem formulated as an H∞ control problem where the weighting functions are optimally selected through the use of Genetic Algorithms (GAs). Thanks to GAs, the roll stability and the energy consumption are handled using a single high level parameter and illustrated via the Pareto optimality. Simulation results emphasize the simplicity and efficiency of the use of the GAs method for a MCO problem in H∞ active anti-roll bar control on heavy vehicles.

Enhancing roll stability of heavy vehicle by LQR active anti-roll bar control using electronic servo-valve hydraulic actuators

ABSTRACTRollover of heavy vehicle is an important road safety problem world-wide. Although rollovers are relatively rare events, they are usually deadly accidents when they occur. The roll stability loss is the main cause of rollover accidents in which heavy vehicles are involved. In order to improve the roll stability, most of modern heavy vehicles are equipped with passive anti-roll bars to reduce roll motion during cornering or riding on uneven roads. However these may be not sufficient to overcome critical situations. This paper introduces the active anti-roll bars made of four electronic servo-valve hydraulic actuators, which are modelled and integrated in a yaw-roll model of a single unit heavy vehicle. The control signal is the current entering the electronic servo-valve and the output is the force generated by the hydraulic actuator. The active control design is achieved solving a linear optimal control problem based on the linear quadratic regulator (LQR) approach. A comparison of several LQR controllers is provided to allow for tackling the considered multi-objective problems. Simulation results in frequency and time domains show that the use of two active anti-roll bars (front and rear axles) drastically improves the roll stability of the single unit heavy vehicle compared with the passive anti-roll bar.

A driver-adaptive stability control strategy for sport utility vehicles

ABSTRACTConventional vehicle stability control (VSC) systems are designed for average drivers. For a driver with a good driving skill, the VSC systems may be redundant; for a driver with a poor driving skill, the VSC intervention may be inadequate. To increase safety of sport utility vehicles (SUVs), this paper proposes a novel driver-adaptive VSC (DAVSC) strategy based on scaling the target yaw rate commanded by the driver. The DAVSC system is adaptive to drivers’ driving skills. More control effort would be exerted for drivers with poor driving skills, and vice versa. A sliding mode control (SMC)-based differential braking (DB) controller is designed using a three degrees of freedom (DOF) yaw-plane model. An eight DOF nonlinear yaw-roll model is used to simulate the SUV dynamics. Two driver models, namely longitudinal and lateral, are used to ‘drive’ the virtual SUV. By integrating the virtual SUV, the DB controller, and the driver models, the performance of the DAVSC system is investigated. The simulations demonstrate the effectiveness of the DAVSC strategy.

Comprehensive path and attitude control of articulated vehicles for varying vehicle conditions

A comprehensive path and attitude control strategy of articulated vehicles for varying vehicle conditions is proposed to improve the lateral stability of articulated vehicles based on model predictive control (MPC). A simplified yaw-roll model of the articulated vehicle is built and its key parameters are identified under specified vehicle conditions, thus the key parameters of the simplified model can be modified according to the real-time vehicle states by online lookup-table and interpolation. The active trailer steering controller is designed to make the predicted trailer path and yaw angle follow the demand path and attitude and minimise the side slip angle of trailer centre of gravity at the same time. The simulation results show that the lateral stability and off-tracking of the articulated vehicle have been greatly improved and the proposed controller has good adaptability to various vehicle conditions.

Comprehensive path and attitude control of articulated vehicles for varying vehicle conditions

A comprehensive path and attitude control strategy of articulated vehicles for varying vehicle conditions is proposed to improve the lateral stability of articulated vehicles based on model predictive control (MPC). A simplified yaw-roll model of the articulated vehicle is built and its key parameters are identified under specified vehicle conditions, thus the key parameters of the simplified model can be modified according to the real-time vehicle states by online lookup-table and interpolation. The active trailer steering controller is designed to make the predicted trailer path and yaw angle follow the demand path and attitude and minimise the side slip angle of trailer centre of gravity at the same time. The simulation results show that the lateral stability and off-tracking of the articulated vehicle have been greatly improved and the proposed controller has good adaptability to various vehicle conditions.

H∞ active anti-roll bar control to prevent rollover of heavy vehicles: a robustness analysis

Rollover of heavy vehicle is an important road safety problem world-wide. Although rollovers are relatively rare events, they are usually deadly accidents when they occur. In order to improve roll stability, most of modern heavy vehicles are equipped with passive anti-roll bars to reduce roll motion during cornering or riding on uneven roads. This paper proposes an H∞ approach to design active anti-roll bars using the yaw-roll model of a single unit heavy vehicle. The control signals are the torques generated by the actuators at the front and rear axles. Simulation results in both frequency and time domains are provided to compare two different cases: passive anti-roll bars and H∞ active anti-roll bars. It is shown that the use of two H∞ active (front and rear) anti-roll bars drastically improves the roll stability of the single unit heavy vehicle to prevent rollover.

Active anti-roll bar control using electronic servo valve hydraulic damper on single unit heavy vehicle

Rollover is a very serious problem for heavy vehicle safety, which can result in large financial and environmental consequences. In order to improve roll stability, most of modern heavy vehicles are equipped with passive anti-roll bars to reduce roll motion during cornering or riding on uneven roads. This paper introduces the active anti-roll bars designed by finding an optimal control based on a linear quadratic regulator (LQR). Four electronic servo-valve hydraulic dampers are modelled and applied on a yaw-roll model of a single unit heavy vehicle. The control signal is the current entering the electronic servo-valve and the output of this actuator is the damping force generated by the hydraulic damper. Simulation results are obtained and compared in three different situations: without anti-roll bars, with passive anti-roll bars and with active anti-roll bars. It is shown that the use of two active (front and rear) anti-roll bars drastically improves the behaviour of the single unit heavy vehicle.

A comparative study of multi-trailer articulated heavy-vehicle models

This paper provides valuable guidelines on the selection of dynamic vehicle models for control algorithm development, design optimization and linear stability analysis for multi-trailer articulated heavy vehicles with active safety systems. The validation of yaw-plane and yaw–roll models of a tractor–two-semitrailer combination using the TruckSim software package is presented in this paper. A linear four-degree-of-freedom yaw-plane model and a linear seven-degree-of-freedom yaw–roll model of the vehicle were generated, compared and evaluated. The linear models of the multi-trailer articulated heavy vehicle yield numerical simulation results which are validated by comparing with those obtained from the corresponding non-linear TruckSim model. This paper also includes eigenvalue and frequency-response analysis of the linear models to estimate the unstable motion modes and to predict the unique dynamic features of the multi-trailer articulated heavy vehicle in the frequency domain. A benchmark investigation of the models was performed to examine the fidelity, the complexity and the applicability of the linear models.