Abstract
Most conventional vehicle stability controllers operate on the basis of many simplifying assumptions, such as a small steering wheel angle, constant longitudinal velocity and a small side-slip angle. This paper presents a new approach for controlling the yaw rate and side-slip of a vehicle without neglecting its longitudinal dynamics and without making simplifying assumptions about its motion. A sliding-mode controller is used to develop a differential braking controller for tracking a desired vehicle yaw rate for a given steering wheel angle, while keeping the vehicle’s side-slip angle as small as possible. The trade-off that exists between yaw rate and side-slip control is described. Conventional and proposed algorithms are presented, and the effectiveness of the proposed controller is investigated using a seven-degree-of-freedom vehicle dynamics model. The simulation results demonstrate that the proposed controller is more effective than the conventional one.
Similar content being viewed by others
Abbreviations
- C ai :
-
ith tire cornering stiffness
- F xgi , F ygi :
-
ith longitudinal and lateral tire-ground forces, respectively, in the ground frame
- F xwi , F ywi :
-
ith longitudinal and lateral tire forces, respectively, in the tire frame
- J zz :
-
yaw moment of inertia
- l f , l r :
-
distance from the center of gravity to the front rear axle
- m ui :
-
ith unsprung (wheel) mass
- m s :
-
suspended (chassis) mass
- m t :
-
vehicle total (chassis and wheels) mass
- r wi :
-
ith effective wheel radius
- t l , t r :
-
left and right half-track widths, respectively
- v xwi ,v xyi :
-
ith longitudinal and lateral wheel velocities, respectively
- v x ,v y :
-
vehicle longitudinal and lateral velocity, respectively
- β :
-
vehicle side-slip angle
- δ :
-
steering wheel angle
- ω z :
-
vehicle yaw rate
- ω wi :
-
ith spinning wheel velocity
References
Abe, M. (2009). Vehicle Handling Dynamics Theory and Application. 1 edn. Elsevier. ISBN-13: 978-1-8561-7749-8.
Abe, M., Kano, Y., Suzuki, K., Shibahata, Y. and Furukawa, Y. (2001). Side-slip control to stabilize vehicle lateral motion by direct yaw moment. JSAE Review, 22, 413–419.
Eslamian, M., Alizadeh, G. and Mirzaei, M. (2007). Optimization-based non-linear yaw moment control law for stabilizing vehicle lateral dynamics. Proc. IMech E Part D: J. Automob. Eng. 221,12, 1513–1523.
Esmailzadeh, E., Goodarzi, A. and Vossoughi, G. R. (2003). Optimal yaw moment control law for improved vehicle handling. J. Mechatron. 13,7, 659–675.
Lv, H. M., Chen, N. and Li, P. (2004). Multi-objective H ∞ optimal control for four-wheel steering vehicle based on yaw rate tracking. Proc. Institution of Mechanical Engineers, Part D: J. Automobile Engineering, 218, 1117–1123.
Manning, W. J. and Crolla, D. A. (2007). A review of yaw rate and sideslip controllers for passenger vehicles. Trans. Institute of Measurement and Control 29,2, 117–135.
Rajamani, R. (2006). Vehicle Dynamics and Control. Springer.
Sohel, A. (2005). Generalized predictive control of yaw dynamics of a hybrid brake-by-wire equipped vehicle. Mechatronics, 15, 1089–1108.
Van Zanten, A. T., Erhardt, R. and Pfaff, G. (1995). VDC, the vehicle dynamics control system of Bosch. SAE Paper No. 950759.
Van Zanten, A. T., Erhardt, R., Pfaff, G., Kost, F., Uwe, H. and Ehret, T. (1996). Control aspects of the Bosch-VDC. Proc. Int. Symp. Advanced Vehicle Control, 1, 573–608.
Wong, J. Y. (1993). Theory of Ground Vehicle. Wiley. New York.
Wong, J. Y. (2001). Theory of Ground Vehicles. 3 edn. Wiley. New York.
Yoon, J., Cho, W., Kang, J., Koo, B. and Yi, K. (2010). Design and evaluation of a unied chassis control system for rollover prevention and vehicle stability improvement on a virtual test track. Control Engineering Practice, 18, 585–597.
Yu, F., Li, D. and Crolla, D. A. (2008). Integrated vehicle dynamics control state-of-the art review. IEEE Vehicle Power and Propulsion Conf. (VPPC), Harbin, China, 1–6.
Zheng, S., Tang, H., Han, Z. and Zhang, Y. (2006). Controller design for vehicle stability enhancement. Control Engineering Practice, 14, 1413–1421.
Author information
Authors and Affiliations
Corresponding author
Rights and permissions
About this article
Cite this article
Tchamna, R., Youn, I. Yaw rate and side-slip control considering vehicle longitudinal dynamics. Int.J Automot. Technol. 14, 53–60 (2013). https://doi.org/10.1007/s12239-013-0007-1
Received:
Revised:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s12239-013-0007-1