原文传递 A Saturation Balancing Control Method for Enhancing Dynamic Vehicle Stability (PREPRINT)
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
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