Abstract
This paper presents a coordinated control of electronic stability control (ESC) and active front steering (AFS) with adaptive algorithms for yaw moment distribution in integrated chassis control (ICC). In order to distribute a control yaw moment into control tire forcres of ESC and AFS, and to coordinate the relative usage of ESC to AFS, a LMS/Newton algorithm (LMSN) is adopted. To make the control tire forces zero in applying LMS and LMSN, the zero-attracting mechanism is adopted. Simulations on vehicle simulation software, CarSim®, show that the proposed algorithm is effective for yaw moment distribution in integrated chassis control.
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Abbreviations
- C f, C r :
-
cornering stiffness of front/rear tires (N/rad)
- e k :
-
adaptation error at time instant k
- F x, F y, F z :
-
longitudinal/lateral/vertical tire forces (N)
- F yf, F yr :
-
lateral tire force of front/rear wheels (N)
- G :
-
effectiveness matrix
- I :
-
identity matrix
- I z :
-
yaw moment of inertial (kg×m2)
- J 1, J 2 :
-
objective functions of adaptive algorithms
- K γ :
-
steady-state yaw rate gain (1/s)
- K :
-
gain in sliding mode control
- K B :
-
pressure-force constant (N×m/MPa)
- l f, l r :
-
distance from C.G. to front/rear axles (m)
- m :
-
vehicle total mass (kg)
- P B :
-
brake pressure (MPa)
- H :
-
weighting matrix in LLMS
- Q, R :
-
auto-correlation and cross-correlation matrices in LMSN and ZA-LMSN
- r w :
-
radius of a wheel (m)
- s :
-
sliding surface
- 2t f, 2t r :
-
front/rear track widths (m)
- V :
-
vehicle velocity (m/s)
- v x, v y :
-
longitudinal/lateral velocities of a vehicle (m/s)
- w :
-
vector of the control tire forces
- β :
-
side-slip angle (rad)
- δ f :
-
steering angle of front wheels (rad)
- Δδ f :
-
corrective steering angle by AFS (rad)
- ΔF x :
-
longitudinal tire force by ESC (N)
- ΔF yf :
-
lateral tire force by AFS (N)
- ΔM B :
-
control yaw moment
- γ, γ d :
-
real and reference yaw rates (rad/s)
- η :
-
tuning parameter on side-slip angle
- ε :
-
convergence rate of LMS and its variants
- ρ :
-
tuning parameter on zero-attracting term
- μ :
-
tire-road friction coefficient
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Yim, S. Coordinated control of ESC and AFS with adaptive algorithms. Int.J Automot. Technol. 18, 271–277 (2017). https://doi.org/10.1007/s12239-017-0027-3
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DOI: https://doi.org/10.1007/s12239-017-0027-3