A Novel Integrated Stability Control Based on Differential Braking and Active Steering for Four-axle Trucks
Abstract 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 i...
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doaj-94bfcf506b1e4a22abf5dce5e68518ae2020-11-25T02:56:54ZengSpringerOpenChinese Journal of Mechanical Engineering1000-93452192-82582019-02-0132112110.1186/s10033-019-0323-0A Novel Integrated Stability Control Based on Differential Braking and Active Steering for Four-axle TrucksBuyang Zhang0Changfu Zong1Guoying Chen2Yanjun Huang3Ting Xu4College of Automotive Engineering, Jilin UniversityState Key Laboratory of Automotive Simulation and Control, Jilin UniversityState Key Laboratory of Automotive Simulation and Control, Jilin UniversityCollege of Mechanical and Mechatronics Engineering, University of WaterlooCollege of Automotive Engineering, Jilin UniversityAbstract 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.http://link.springer.com/article/10.1186/s10033-019-0323-0Differential brakingActive steeringVertical tire force calculationMulti-axle truckIntegrated control |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Buyang Zhang Changfu Zong Guoying Chen Yanjun Huang Ting Xu |
spellingShingle |
Buyang Zhang Changfu Zong Guoying Chen Yanjun Huang Ting Xu A Novel Integrated Stability Control Based on Differential Braking and Active Steering for Four-axle Trucks Chinese Journal of Mechanical Engineering Differential braking Active steering Vertical tire force calculation Multi-axle truck Integrated control |
author_facet |
Buyang Zhang Changfu Zong Guoying Chen Yanjun Huang Ting Xu |
author_sort |
Buyang Zhang |
title |
A Novel Integrated Stability Control Based on Differential Braking and Active Steering for Four-axle Trucks |
title_short |
A Novel Integrated Stability Control Based on Differential Braking and Active Steering for Four-axle Trucks |
title_full |
A Novel Integrated Stability Control Based on Differential Braking and Active Steering for Four-axle Trucks |
title_fullStr |
A Novel Integrated Stability Control Based on Differential Braking and Active Steering for Four-axle Trucks |
title_full_unstemmed |
A Novel Integrated Stability Control Based on Differential Braking and Active Steering for Four-axle Trucks |
title_sort |
novel integrated stability control based on differential braking and active steering for four-axle trucks |
publisher |
SpringerOpen |
series |
Chinese Journal of Mechanical Engineering |
issn |
1000-9345 2192-8258 |
publishDate |
2019-02-01 |
description |
Abstract 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. |
topic |
Differential braking Active steering Vertical tire force calculation Multi-axle truck Integrated control |
url |
http://link.springer.com/article/10.1186/s10033-019-0323-0 |
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