A fuzzy-logic controller system is designed for improving the heavy vehicle's yaw stability in this paper. The control objectives of this system are the yaw rate and the body sideslip angle. With the differential braking, a corrective yaw moment is generated to improve the vehicle's yaw stability significantly. A vehicle virtual prototype model is established with the application of the Adams/Car. A fuzzy controller is designed for the yaw stability control system in the Matlab/Simulink environment and is combined with the vehicle mode1. The vehicle responses at various running speeds, brake decelerations, road frictional coefficients and road curve radii are analyzed by co-simulations. The results show that the proposed differential braking fuzzy controller can reduce the yaw rate, the body sideslip angle and the lateral acceleration noticeably and thus improve the vehicle's yaw stability effectively. With the increase of the brake deceleration and the road curve radius, the control effect is enhanced. Even on a low frictional coefficient road, the controller can also have an excellent performance in reducing the danger of the vehicle going out of control.
LI Shaohua
,
WU Jinyi
. A Fuzzy-logic Controller Design for Heavy Vehicle Based on Co-simulation[J]. Science & Technology Review, 2014
, 32(28/29)
: 91
-96
.
DOI: 10.3981/j.issn.1000-7857.2014.28/29.013
[1] Niasar A H, Moghbeli H, Kazemi R. Yaw moment control via emotionaladaptive neuro-fuzzy controller for independent rear wheel drives of anelectric vehicle[C]//Proceedings of the 2003 IEEE Conference onControl Applications. New York: IEEE, 2003:380-385.
[2] 张思奇, 张天侠, 周淑文. 基于横摆力矩分配的车辆稳定控制研究[J]. 中国机械工程, 2012, 23(6): 751-654.Zhang Siqi, Zhang Tianxia, Zhou Shuwen. Study on vehicle stabilitycontrol baed on distribution of yaw torque[J]. China MechanicalEngineering, 2012, 23(6): 751-654.
[3] Duan M, Ying S M, Zhang H S. The study of stability control based onthe yawing moment of electric vehicle[J]. HydromechatronicsEngineering, 2013, 41(6): 103-106.
[4] Zhou Q, Wang F. Driver assisted fuzzy control of yaw dynamics for 4WDvehicles[C]//Proceedings of the 2004 IEEE Intelligent VehiclesSymposium. New York: IEEE, 2004: 425-430.
[5] Pilutti T, Ulsoy G, Hrovat D. Vehicle steering intervention throughdifferential braking[J]. Journal of dynamic systems, measurement, andcontrol, 1998, 120(3): 314-321.
[6] Drakunov S V, Ashrafi B, Rosiglioni A. Yaw control algorithm viasliding mode control[C]//Proceedings of the 2000 IEEE AmericanControl Conference. Chicago, New York: IEEE, 2000: 580-583.
[7] Shino M, Miyamoto N, Wang Y Q, et al. Traction control of electricvehicles considering vehicle stability[C]//Proceedings of the 6thInternational Workshop on Advanced Motion Control. New York: IEEE,2000: 311-316.
[8] Tsengz H E, Madau D, Ashrafi B, et al. Technical challenges in thedevelopment of vehicle stability control system[C]//Proceedings of the1999 IEEE International Conference on Control Applications. NewYork: IEEE, 1999: 1660-1666.
[9] 彭朝晖, 王铁, 申晋宪, 等. 基于ADAMS的矿用自卸车建模与平顺性仿真[J]. 矿山机械, 2013, 42(3): 44-47.Peng Zhaohui, Wang Tie, Shen Jinxian, et al. Modeling and simulationon ride comfort of mining dump truck based on ADAMS[J]. MiningMachinery, 2013, 42(3): 44-47.
[10] 宋宇, 陈无畏, 陈黎卿. 基于ADAMS与Matlab 的车辆稳定性控制联合仿真研究[J]. 机械工程学报, 2011,8(16): 86-92.Song Yu, Chen Wuwei, Chen Liqing. Study on co-simulation ofvehicle stability control based on ADAMS and Matlab [J]. Journal ofMechanical Engineering, 2011, 8(16): 86-92.
[11] Esmailzadeh E, Goodarzi A, Vossoughi G R. Optimal yaw moment controllaw for improved vehicle handling[J]. Mechatronics, 2003, 13(7): 659-675.
[12] 郭孔辉, 丁海涛. 轮胎附着极限下差动制动对汽车横摆力矩的影响[J]. 汽车工程, 2002, 24(2): 101-104.Guo Konghui, Ding Haitao. The effect of yaw moment throughdifferential braking under tire adhesion limit[J]. AutomotiveEngineering, 2002, 24(2): 101-104.
[13] 李华师, 韩宝玲, 罗庆生, 等. 基于模糊控制的三轴车辆全轮转向性能仿真[J]. 农业工程学报, 2012, 28(13): 34-41.Li Huashi, Han Baoling, Luo Qingsheng, et al. Simulation of allwheelsteering for three-axle vehicle based on fuzzy control[J].Transactions of the Chinese Society of Agricultural Engineering, 2012,28(13): 34-41.
