题名: |
A Saturation Balancing Control Method for Enhancing Dynamic Vehicle Stability (PREPRINT) |
作者: |
Sill, Justin, Ayalew, Beshah |
关键词: |
*STABILITY, *MANEUVERS, *BRAKING, *PASSENGER VEHICLES, *ADAPTIVE CONTROL SYSTEMS, AXLE SHAFTS, GROUND VEHICLES, TORQUE, CONTROL SYSTEMS |
摘要: |
This paper proposes a new vehicle stability control method that quantifies and uses the level of lateral force saturation on each axle/wheel of a vehicle. The magnitude of the saturation, which can be interpreted as a slip-angle deficiency, is determined from on-line estimated nonlinear lateral tire forces and their linear projections. Once known, the saturation levels are employed in a saturation balancing control structure that biases the drive torque to either the front or rear axles/wheels with the goal of minimizing excessive under- or over-steer. The control structure avoids the need for an explicit reference model to generate target vehicle responses. The method is particularly suited for a vehicle with a torque-biasing or independent axle or wheel drive system. The benefits of the proposed approach are demonstrated considering a nominally unstable heavy vehicle in an extreme obstacle avoidance type dynamic maneuver. |
总页数: |
28 |
报告类型: |
科技报告 |