A new strategy for minimum usage of external yaw moment in vehicle dynamic control system

Due to the loss of vehicle directional stability in emergency maneuvers, a new complete desired model for vehicle handling based on the linear two-degrees-of-freedom (2DOF) model and tire/road conditions is presented to be tracked by the direct yaw moment control (DYC) system. In order to maintain t...

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Bibliographic Details
Published in:Transportation research. Part C, Emerging technologies Emerging technologies, 2010-04, Vol.18 (2), p.213-224
Main Author: Mirzaei, M.
Format: Article
Language:English
Subjects:
Analytical solution
Applied sciences
Desired handling
Direct yaw moment control
Exact sciences and technology
Ground, air and sea transportation, marine construction
Handling
Law
LQ optimal control
Maneuvers
Materials handling
Nonlinearity
Optimization
Road transportation and traffic
Vehicle dynamics
Vehicles
Yaw
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Summary:Due to the loss of vehicle directional stability in emergency maneuvers, a new complete desired model for vehicle handling based on the linear two-degrees-of-freedom (2DOF) model and tire/road conditions is presented to be tracked by the direct yaw moment control (DYC) system. In order to maintain the vehicle actual motions, yaw rate and side-slip angle, close to the proposed desired responses without excessively large external yaw moment, a complete linear quadratic (LQ) optimal problem is formulated and its analytical solution is obtained. Here, the derived control law is evaluated and its different versions are discussed. It is shown that the side-slip tracking by DYC is more effective than the yaw rate control to stabilize vehicle motions in nonlinear regimes. Also, optimal property of the control law provides the possibility of reducing the external yaw moment as low as possible, at the cost of some admissible tracking errors. Simulation studies of vehicle handling, with and without control, have been conducted using a full nonlinear vehicle dynamic model. The results, obtained during various maneuvers, indicate that when the proposed optimal controller is engaged with the model, improvements in the handling performance through a reduced external yaw moment can be acquired.
ISSN:0968-090X
1879-2359
DOI:10.1016/j.trc.2009.06.002