Vehicle path tracking by integrated chassis control
来源期刊：中南大学学报(英文版)2015年第4期
论文作者：Saman Salehpour Yaghoub Pourasad Seyyed Hadi Taheri
文章页码：1378 - 1388
Key words：vehicle dynamics; active control system; optimal controller; electronic stability program (ESP); particle swam optimization (PSO)
Abstract: The control problem of trajectory based path following for passenger vehicles is studied. Comprehensive nonlinear vehicle model is utilized for simulation vehicle response during various maneuvers in MATLAB/Simulink. In order to follow desired path, a driver model is developed to enhance closed loop driver/vehicle model. Then, linear quadratic regulator (LQR) controller is developed which regulates direct yaw moment and corrective steering angle on wheels. Particle swam optimization (PSO) method is utilized to optimize the LQR controller for various dynamic conditions. Simulation results indicate that, over various maneuvers, side slip angle and lateral acceleration can be reduced by 10% and 15%, respectively, which sustain the vehicle stable. Also, anti-lock brake system is designed for longitudinal dynamics of vehicle to achieve desired slip during braking and accelerating. Proposed comprehensive controller demonstrates that vehicle steerability can increase by about 15% during severe braking by preventing wheel from locking and reducing stopping distance.
Saman Salehpour1, Yaghoub Pourasad2, Seyyed Hadi Taheri3
(1. Department of Mechanical Engineering, Tabriz Branch, Islamic Azad University, Tabriz, Iran;
2. Faculty of Electrical Engineering, Urmia university of Technology, Urmia, Iran;
3. Young Researchers and Elite Club, Tabriz Branch, Islamic Azad University, Tabriz, Iran)
Abstract:The control problem of trajectory based path following for passenger vehicles is studied. Comprehensive nonlinear vehicle model is utilized for simulation vehicle response during various maneuvers in MATLAB/Simulink. In order to follow desired path, a driver model is developed to enhance closed loop driver/vehicle model. Then, linear quadratic regulator (LQR) controller is developed which regulates direct yaw moment and corrective steering angle on wheels. Particle swam optimization (PSO) method is utilized to optimize the LQR controller for various dynamic conditions. Simulation results indicate that, over various maneuvers, side slip angle and lateral acceleration can be reduced by 10% and 15%, respectively, which sustain the vehicle stable. Also, anti-lock brake system is designed for longitudinal dynamics of vehicle to achieve desired slip during braking and accelerating. Proposed comprehensive controller demonstrates that vehicle steerability can increase by about 15% during severe braking by preventing wheel from locking and reducing stopping distance.
Key words:vehicle dynamics; active control system; optimal controller; electronic stability program (ESP); particle swam optimization (PSO)
