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Vehicle Dynamics Modeling and Electronic Stability Program/ Active Front Steering Sliding Mode Integrated Control
Author(s) -
Fan Xiaobin,
Zhao Zixiang
Publication year - 2019
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.1822
Subject(s) - chassis , control theory (sociology) , electronic stability control , vehicle dynamics , engineering , sliding mode control , controller (irrigation) , nonlinear system , automobile handling , active safety , control engineering , active suspension , automotive engineering , computer science , control (management) , agronomy , physics , electrical engineering , structural engineering , quantum mechanics , artificial intelligence , actuator , biology
Chassis integrated control can significantly improve vehicle handling stability and comfort. Because of the complexity of the problem, it has attracted significant research attention. We built a vehicle nonlinear dynamic model with multi‐degree freedom, including body movement, wheel movement, and electronically controlled hydraulic power steering system. We compared the magic formula tire model, Dugoff tire model, brush tire model, and LuGre dynamic friction tire model and steady model. The precision of the model was verified by a comparison between simulation results and the real vehicle test results. Then, based on the vehicle dynamics model, an AFS (active front steering) controller was designed based on sliding mode variable structure control, and an AFS and ESP (electronic stability program) integrated coordination controller was proposed. Finally, based on the nonlinear tire model and multi‐DOF (degree of freedom) vehicle model, sinusoidal and step steering angle input simulation analysis was proposed on different road friction coefficients. The results show that the vehicle has better response characteristics with coordinated control strategy when compared with AFS and ESP only control. The evidence suggests that the proposed integrated control system in this paper can improve vehicle stability and safety.