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Vehicle Stabilization via a Self-Tuning Optimal Controller | ||
| AUT Journal of Modeling and Simulation | ||
| مقاله 5، دوره 43، شماره 2، بهمن 2011، صفحه 33-41 اصل مقاله (467.98 K) | ||
| نوع مقاله: Research Article | ||
| شناسه دیجیتال (DOI): 10.22060/miscj.2011.167 | ||
| نویسندگان | ||
| M. Bayani؛ R. Kazemi؛ Sh. Azadiiii | ||
| چکیده | ||
| Nowadays, using advanced vehicle control and safety systems in vehicles is growing rapidly. In this regard, in recent years new control systems, called VDC, have been introduced. These systems stabilize vehicle yaw motion, by yaw moment resulted from tire controlling forces. In this paper, an adaptive optimal controller applied to a vehicle to obtain a satisfactory lateral and yaw stability. To derive the control law, we use LQR method. Considering that various parameters are included in the controller structure, which their measurement is either expensive or practically impossible, a least squared estimator with variable forgetting factor is proposed to estimate them. To optimize the system and in order to exert the control yaw moment, an ABS brake system is implemented in a new architecture to distribute brake forces on wheels. The controller rules are derived based on the bicycle model and the estimator is designed based on the 7 DOE model of the vehicle. To simulate and evaluate the performance of the proposed controller the full vehicle model of the reference car in ADAMS/Car, with 214 DOE, is also implemented. Finally, the results of the vehicle response, equipped with the controller system, in a standard maneuver are presented. | ||
| کلیدواژه‌ها | ||
| Vehicle Dynamic Control؛ ABS؛ Adaptive Optimal Control؛ Tire Force Estimation؛ ADAMS Model | ||
| عنوان مقاله [English] | ||
| Vehicle Stabilization via a Self-Tuning Optimal Controller | ||
| چکیده [English] | ||
| Nowadays, using advanced vehicle control and safety systems in vehicles is growing rapidly. In this regard, in recent years new control systems, called VDC, have been introduced. These systems stabilize vehicle yaw motion, by yaw moment resulted from tire controlling forces. In this paper, an adaptive optimal controller applied to a vehicle to obtain a satisfactory lateral and yaw stability. To derive the control law, we use LQR method. Considering that various parameters are included in the controller structure, which their measurement is either expensive or practically impossible, a least squared estimator with variable forgetting factor is proposed to estimate them. To optimize the system and in order to exert the control yaw moment, an ABS brake system is implemented in a new architecture to distribute brake forces on wheels. The controller rules are derived based on the bicycle model and the estimator is designed based on the 7 DOE model of the vehicle. To simulate and evaluate the performance of the proposed controller the full vehicle model of the reference car in ADAMS/Car, with 214 DOE, is also implemented. Finally, the results of the vehicle response, equipped with the controller system, in a standard maneuver are presented. | ||
| کلیدواژه‌ها [English] | ||
| Vehicle Dynamic Control, ABS, Adaptive Optimal Control, Tire Force Estimation, ADAMS Model | ||
| مراجع | ||
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[1] A. Van Zanten, R. Erhardt, K. Landesfiend and G. Pfaff, "VDC System development and perspective", in proc. 1998 SAE, paper No. 980235. [2] A. Van Zanten, R. Erhardt and G. Pfaff "VDC, the Vehicle Dynamics Control System of Bosch", in proc. 1995 SAE, paper No. 950759. [3] M. Abe et al, "Side-slip control to stabilize vehicle lateral motion by direct yaw moment", in proc. 2001 JSAE Review 22, pp. 413–419. [4] T. Chung and K. Yi, "Design and evaluation of side slip angle-based vehicle stability control scheme on a virtual test track", IEEE Trans. on Cont. Sys. Tec., vol. 14, No. 2, pp. 224-234, 2006. [5] F. Huang, J. R. Chen and L. W. Tsai, "The use of random steer test data for vehicle parameter estimation", in proc. 1993 SAE, paper No.930830. [6] C. R. Carlson and J. C. Gerdes, "Nonlinear estimation of longitudinal tire slip under several driving conditions", in proc. 2003 American Control Conf., pp. 4975-4980, 2003. [7] M. Tanelli and M. S. Savaresi, "Friction-curve peak detection by wheel-deceleration measurements", Intelligent Transportation Sys. Conf. IEEE, Vol. 17-20, pp. 1592-1597, 2006. [8] M. Gobbi, J. Botero and G. Mastinu, "Improving the active safety of road vehicles by sensing forces and moments at the wheels", Veh. Sys. Dyn., Vol. 46, 2008. [9] L. Li, J. Song, H. Wang and C. Wu, "Fast estimation and compensation of the tyre force in real time control for vehicle dynamic stability control system", Int. Journal of Vehicle Design, Vol. 48, pp. 208-229, 2008. [10] J. Y. Wong, Theory of Ground Vehicles, John Wiley & Sons Inc., 2001. [11] M. B. Khaknejad, "Designing Vehicle Dynamic Stabilizer Estimator", MSc dissertation, Dept. Mechanical Eng., Univ. K. N. Toosi, Tehran, 2007. [12] D. E. Kirk, Optimal Control Theory, Englewood Clifs, Prentice Hall, 1970. [13] A. Gaffari, Advanced Control Course Book, Tehran, K. N. Toosi Univ. Pub., 2002. [14] R. Lozano, D. Dimogianopoulos and R. Mahony, "Identification of linear time-varying systems using a modified least-squares algorithm", Journal of Automatica, Vol. 36, pp. 1009-1015, 1999. [15] J. J. Slotine and W. Li, Applied Nonlinear Control, 1st ed., Prentice Hall International Inc., 1992. [16] Technical Documentation/TCD Specification Sheet: ECU EA106/EA1, Robert Bosch Gmbh, Confidential report, 2008. | ||
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