Gain Scheduled Active Steering Control Based on a Parametric Bicycle Model

S. C. Baslamisli, I. Polat, I. E. Kose
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引用次数: 41

Abstract

This paper presents a gain scheduled active steering control design method to preserve vehicle stability in extreme handling situations. It is shown that instead of the classical linear tire model based on expressing cornering force proportional to tire sideslip angle, a simple rational model with validity extending beyond the linear regime of the tire may be considered. This results in a new formulation of the bicycle model in which tire sideslip angles and vehicle forward speed appear as time-varying parameters. Such a model happens to be useful in the design of controllers scheduled by tire sideslip angles: after having expressed the parametric bicycle model in the parametric descriptor form, a gain scheduled active steering controller is designed in this study to improve vehicle handling at "large" driver commanded steering angles. Simulations reveal the efficiency of the selected modeling and controller design methodology in enhancing vehicle handling capacity during cornering on roads with high and low adhesion coefficient.
基于参数化自行车模型的增益调度主动转向控制
提出了一种增益调度主动转向控制设计方法,以保证车辆在极端操纵情况下的稳定性。结果表明,可以考虑一种超越轮胎的线性范围的简单合理模型,而不是基于将转向力与轮胎侧滑角成比例表示的经典线性轮胎模型。这就产生了一种新的自行车模型,其中轮胎侧滑角和车辆前进速度作为时变参数出现。这样的模型在设计轮胎侧滑角调度控制器时恰好是有用的:在将参数化自行车模型表示为参数描述符形式之后,本研究设计了增益调度主动转向控制器,以改善驾驶员控制的“大”转向角下车辆的操控性。仿真结果表明,所选择的建模和控制器设计方法在提高车辆在高低附着系数路面上的转弯处理能力方面是有效的。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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