Vehicle stability control system design using optimal allocation of yaw moment |
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| Authors: | LUO Hong ZHANG Li-shuang LAI Fei and CHEN Xing |
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| Institution: | College of Mechanical Engineering,Chongqing University,Chongqing 400044,P.R. China;College of Mechanical Engineering,Chongqing University,Chongqing 400044,P.R. China;College of Mechanical Engineering,Chongqing University,Chongqing 400044,P.R. China;College of Mechanical Engineering,Chongqing University,Chongqing 400044,P.R. China |
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| Abstract: | In order to improve vehicle handling stability,a control system using optimal allocation of yaw moment was designed.The first layer is a linear quadratic regulator (LQR) controller,which optimizes a desired yaw moment to work on the vehicle and calculates reference wheel slip for the target wheel.The second layer of the control system is a PID controller which can track the reference wheel slip rate,and then apply braking torque on the target wheel to make the vehicle stable.Simulations are carried out by using an 8-dof nonlinear vehicle model under different conditions.The simulation results indicate that the designed control system can effectively improve vehicle handling stability. |
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| Keywords: | vehicle stability direct yaw moment optimal control PID control slip rate |
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