Integrated control of active front steering and direct yaw moment

doi:10.3785/j.issn.1008-973X.2022.12.002

Journal of ZheJiang University (Engineering Science)

2022, Vol. 56

Issue (12): 2330-2339 DOI: 10.3785/j.issn.1008-973X.2022.12.002

Integrated control of active front steering and direct yaw moment

Bing ZHOU1(

),Yang-yi LIU1,Xiao-jian WU2,Tian CHAI1,Yong-qiang ZENG1,Qian-xi PAN1

1. State Key Laboratory of Advanced Design and Manufacturing for Vehicle Body, Hunan University, Changsha 410082, China
2. School of Mechatronics Engineering, Nanchang University, Nanchang 330031, China

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Abstract

Aiming at the coordination problem of active front steering (AFS) and direct yaw moment control (DYC) in vehicle handling and stability control, an optimal phase plane method for stable region partition was proposed. In order to realize the integrated control of handling and stability on lateral and longitudinal dynamic system, a coordination criterion considering tire force characteristics was established based on the proposed method . Firstly, the side slip angle of front and rear tires and the difference between them were used as the characterization of vehicle lateral stability. Combined with the lateral force characteristics of the tires, the lateral state of the vehicle was divided into stable, critically stable and unstable regions. Thereby the coordination criterion between AFS and DYC was established. Secondly, considering the problem of obtaining the state variables when the control algorithm was oriented to practical applications, a state observer based on the super-twisting algorithm was established to estimate the vehicle front and rear wheel slip angle. Finally, the AFS and DYC higher-order sliding mode controller based on the adaptive super-twisting algorithm was designed to eliminate the chattering phenomenon and avoided frequent switching of the controllers during the process of stability control. Experimental results showed that the proposed coordination criteria and control method had positive effect on the coordination of AFS and DYC and obtained great effect on the control of handling and stability.

Key words： phase plane method intervention criterion higher-order sliding mode control integrated control active front wheel steering (AFS) direct yaw moment control (DYC)

Received: 29 November 2021 Published: 03 January 2023

CLC:

U 461.1

Fund: 国家自然科学基金资助项目(51875184，52002163); 湖南省自然科学基金资助项目(2019JJ40025)

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	Bing ZHOU
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	Yong-qiang ZENG
	Qian-xi PAN

Cite this article:

Bing ZHOU,Yang-yi LIU,Xiao-jian WU,Tian CHAI,Yong-qiang ZENG,Qian-xi PAN. Integrated control of active front steering and direct yaw moment. Journal of ZheJiang University (Engineering Science), 2022, 56(12): 2330-2339.

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https://www.zjujournals.com/eng/10.3785/j.issn.1008-973X.2022.12.002 OR https://www.zjujournals.com/eng/Y2022/V56/I12/2330

主动前轮转向和直接横摆力矩集成控制

针对车辆操稳性控制中功能耦合的主动前轮转向（AFS）与直接横摆力矩控制（DYC）的任务协调问题，提出优化相平面法进行稳定区域划分. 基于所提方法建立轮胎侧向力特性协调准则，实现纵横向动力学系统操稳性集成控制. 以前、后轮侧偏角及两者之差作为车辆横向稳定的表征量，结合轮胎侧向力特性划分车辆横向状态为稳定、临界稳定和失稳状态区间. 建立AFS与DYC的协调准则. 考虑控制算法面向实际应用时状态量的获取问题，建立基于超螺旋算法的状态观测器估计车辆前后轮侧偏角. 分别设计基于自适应超螺旋高阶滑模算法的AFS和DYC控制器，在消除控制器抖振和避免频繁切换的基础上完成稳定性控制. 试验结果表明，所提协调准则和控制算法对协调AFS和DYC有积极作用，且操稳性控制效果良好.

关键词： 相平面法, 介入准则, 高阶滑模控制, 集成控制, 主动前轮转向（AFS ）, 直接横摆力矩控制（DYC）

Fig.1 Seven degrees of freedom vehicle model

Tab.1 Parameters of vehicle modelling

Tab.2 Coefficients of magic formula tire model

Fig.2 Wheel sideslip angle phase plane

Fig.3 Tire lateral force characteristics

Fig.4 Front and rear wheel lateral force characteristics combined phase plane

Fig.5 Stability region of front and rear wheel

Fig.6 Parameter meaning of coordinate function

Fig.7 Weight of direct yaw moment control in critical stability region

Fig.8 Vehicle steady state based on different phase planes

Fig.9 Coordinated control framework for active front wheel steering and direct yaw moment control

Fig.10 Amount of change in front wheel angle under different sliding mode controllers

Fig.11 Observation results of front and rear wheel slip angle under super-twisting algorithm observer

Fig.12 Front wheel angle under hook steering condition

Fig.13 Vehicle track and vehicle state under different controllers

Fig.14 Weight of active front wheel steering and direct yaw moment control

Fig.15 Phase trajectory diagram of vehicle state under different control methods

Fig.16 Braking torque and additional steering wheel angle under coordinate control


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