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

Abstract

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.

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Document Details

Document Type
Technical Report
Publication Date
Mar 01, 2011
Accession Number
ADA540390

Entities

People

  • Beshah Ayalew
  • Justin Sill

Organizations

  • Clemson University

Tags

Communities of Interest

  • Materials and Manufacturing Processes
  • Sensors

DTIC Thesaurus Topics

  • Abstracts
  • Coefficients
  • Collision Avoidance
  • Computations
  • Control Systems
  • Equations
  • Equations Of Motion
  • Friction
  • Kalman Filters
  • Maneuvers
  • Observers
  • Saturation
  • Standards
  • Steady State
  • Surfaces
  • Traction
  • Vehicles

Fields of Study

  • Engineering

Readers

  • Logistics and Supply Chain Management.
  • Regression Analysis.
  • Robotics and Automation.