A Novel Integrated Stability Control Based on Differential Braking and Active Steering for Four-axle Trucks

Chinese Journal of Mechanical Engineering

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[1] 0000 0000 8644 1405, grid.46078.3d, College of Mechanical and Mechatronics Engineering, University of Waterloo, N2L 3G1, Waterloo, ON, Canada;0000 0004 1760 5735, grid.64924.3d, College of Automotive Engineering, Jilin University, 130022, Changchun, China;0000 0004 1760 5735, grid.64924.3d, State Key Laboratory of Automotive Simulation and Control, Jilin University, 130022, Changchun, China;

关键词: Differential braking;    Active steering;    Vertical tire force calculation;    Multi-axle truck;    Integrated control;   

DOI  :  10.1186/s10033-019-0323-0

来源: publisher

【 摘 要 】

Differential braking and active steering have already been integrated to overcome their shortcomings. However, existing research mainly focuses on two-axle vehicles and controllers are mostly designed to use one control method to improve the other. Moreover, many experiments are needed to improve the robustness; therefore, these control methods are underutilized. This paper proposes an integrated control system specially designed for multi-axle vehicles, in which the desired lateral force and yaw moment of vehicles are determined by the sliding mode control algorithm. The output of the sliding mode control is distributed to the suitable wheels based on the abilities and potentials of the two control methods. Moreover, in this method, fewer experiments are needed, and the robustness and simultaneity are both guaranteed. To simplify the optimization system and to improve the computation speed, seven simple optimization subsystems are designed for the determination of control outputs on each wheel. The simulation results show that the proposed controller obviously enhances the stability of multi-axle trucks. The system improves 68% of the safe velocity, and its performance is much better than both differential braking and active steering. This research proposes an integrated control system that can simultaneously invoke differential braking and active steering of multi-axle vehicles to fully utilize the abilities and potentials of the two control methods.

【 授权许可】

CC BY