A novel nonlinear controller for enhancement of the transient dynamics performance of a three-wheeled vehicle during different conditions

IF 1.9 4区 工程技术 Q3 ENGINEERING, MECHANICAL
M. Saeedi
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引用次数: 0

Abstract

In this study, a new controller to prevent the yaw instability and rollover of a three-wheeled vehicle has been proposed. This controller offers the most obvious opportunity for affecting the vehicle's lateral dynamics performance on the full range of nonlinearities during various operating boundaries. The active combined controller has been designed based on sliding mode control method using an active roll system and an active braking system to dominate the uncertainties of the nonlinear dynamic model. Firstly, to avoid rollover of the three-wheeled vehicle, the roll angle was considered as the control objective, and the anti-roll bar was employed as an actuator to produce the roll moment. Secondly, to increase the maneuverability and lateral dynamics enhancement, an active braking system was designed. In the control system, the yaw rate and the lateral velocity were regarded as the control variables to track their references. Moreover, to verify the performance of the mentioned combined controller, another control system has been designed using the linearization feedback control method. Then, computer simulation has been carried out with a 12 degrees of freedom dynamic model of the three-wheeled vehicle called the delta. Furthermore, a nonlinear tire model has been utilized to compute the longitudinal and the lateral forces. Next, the comparative simulation results confirmed the effectiveness of the robust control system to raise the vehicle's maneuverability and its rollover stability in comparison with the linearization feedback control method, especially when the three-wheeled vehicle is subjected to critical conditions.
一种提高三轮车辆在不同工况下瞬态动力学性能的非线性控制器
本文提出了一种防止三轮车辆偏航失稳和侧翻的新型控制器。该控制器提供了最明显的机会,以影响车辆的横向动力学性能在全范围的非线性在各种操作边界。利用主动侧倾系统和主动制动系统,设计了基于滑模控制方法的主动组合控制器,以控制非线性动力学模型的不确定性。首先,为避免三轮车辆侧翻,以侧倾角为控制目标,利用防侧倾杆作为致动器产生侧倾力矩;其次,为了提高车辆的机动性能和横向动力性能,设计了主动制动系统。在控制系统中,以横摆角速度和横向速度为控制变量,跟踪它们的参考点。此外,为了验证上述组合控制器的性能,采用线性化反馈控制方法设计了另一个控制系统。然后,对该三轮车辆的12自由度动力学模型delta进行了计算机仿真。此外,还利用非线性轮胎模型计算了轮胎的纵向力和侧向力。其次,对比仿真结果验证了鲁棒控制系统与线性化反馈控制方法相比在提高车辆机动性能和侧翻稳定性方面的有效性,特别是在三轮车辆处于临界工况时。
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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来源期刊
CiteScore
4.10
自引率
11.10%
发文量
38
审稿时长
>12 weeks
期刊介绍: The Journal of Multi-body Dynamics is a multi-disciplinary forum covering all aspects of mechanical design and dynamic analysis of multi-body systems. It is essential reading for academic and industrial research and development departments active in the mechanical design, monitoring and dynamic analysis of multi-body systems.
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