{"title":"基于模型预测控制的飞行器偏航稳定性控制器设计","authors":"Hongliang Zhou, Zhiyuan Liu","doi":"10.1109/IVS.2009.5164381","DOIUrl":null,"url":null,"abstract":"Yaw stability of an automotive vehicle in steering maneuver is critical to stability and handling performance of the vehicle. In the paper, a yaw stability controller based on model predictive control is designed in the principle of active differential brake. Implementing a simple 6 DoF linear vehicle model, the proposed controller solves brake torque constraints and overactuated problems in vehicle yaw stability control with the consideration of tire nonlinear characteristics. The simulations on a professional vehicle dynamics tool show the controller could calculate reasonable brake torque of the most efficient wheel in moving horizon manner, and keep the vehicle yaw stability.","PeriodicalId":396749,"journal":{"name":"2009 IEEE Intelligent Vehicles Symposium","volume":"61 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2009-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"21","resultStr":"{\"title\":\"Design of vehicle yaw stability controller based on model predictive control\",\"authors\":\"Hongliang Zhou, Zhiyuan Liu\",\"doi\":\"10.1109/IVS.2009.5164381\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Yaw stability of an automotive vehicle in steering maneuver is critical to stability and handling performance of the vehicle. In the paper, a yaw stability controller based on model predictive control is designed in the principle of active differential brake. Implementing a simple 6 DoF linear vehicle model, the proposed controller solves brake torque constraints and overactuated problems in vehicle yaw stability control with the consideration of tire nonlinear characteristics. The simulations on a professional vehicle dynamics tool show the controller could calculate reasonable brake torque of the most efficient wheel in moving horizon manner, and keep the vehicle yaw stability.\",\"PeriodicalId\":396749,\"journal\":{\"name\":\"2009 IEEE Intelligent Vehicles Symposium\",\"volume\":\"61 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2009-06-03\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"21\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2009 IEEE Intelligent Vehicles Symposium\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IVS.2009.5164381\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2009 IEEE Intelligent Vehicles Symposium","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IVS.2009.5164381","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Design of vehicle yaw stability controller based on model predictive control
Yaw stability of an automotive vehicle in steering maneuver is critical to stability and handling performance of the vehicle. In the paper, a yaw stability controller based on model predictive control is designed in the principle of active differential brake. Implementing a simple 6 DoF linear vehicle model, the proposed controller solves brake torque constraints and overactuated problems in vehicle yaw stability control with the consideration of tire nonlinear characteristics. The simulations on a professional vehicle dynamics tool show the controller could calculate reasonable brake torque of the most efficient wheel in moving horizon manner, and keep the vehicle yaw stability.
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