Nonlinear robust fuzzy distributed control of vehicle steering with saturation constraint

PDF(2796 KB)

Journal of Vibration and Shock ›› 2022, Vol. 41 ›› Issue (4) : 77-85.

SUN Chuanbin1,2,3, FANG Lin1, TONG Baohong1,2

Author information +

History +

Abstract

Aiming at nonlinear steering and actuator saturation problems in extreme state, the integrated control of active front steering (AFS) and direct yaw moment (DYC) of yaw-roll stability is studied. A 3-DOF yaw-roll vehicle model was established with Takagi-Sugeon method, uniting dynamic parameters fuzzy observer. A novel yaw ideal reference model was conducted under T-S framework, accurately reflecting vehicle steady-state during steering. The dynamic saturation threshold of active front steering was constructed under T-S framework, considering the effect of extreme steering on sideslip characteristics of front wheels. A relaxation factor was introduced to improve actuator of AFS and DYC efficiency, and saturation deviation of feedback control input was controlled as a bounded disturbance. A state feedback fuzzy controller PDC-TS(parallel distributed compensation-TS) was designed based on parallel-distributed compensation (PDC) scheme, with the norm-bounded rollover stability threshold was adopted as rollover performance constraint, and optimal H∞ performance control was derived in terms of linear matrix inequalities(LMIs） convex optimization problem for vehicle yaw-roll stability. Finally, control simulation and hardware in loop simulation for the controller was constructed with TruckSim-Matlab/Labview softwares, the obtained results show that, PDC-TS method is more precisely to control strong nonlinearity of vehicle during steering process, actuator implementing is more efficiently, and stability is always maintained with saturation input.

Key words

Vehicle system / Yaw stability / Lateral load transfer / Nonlinear robust control / Saturation constraint

Cite this article

EndNote

Ris (Procite)

Bibtex

Download Citations

SUN Chuanbin1,2,3, FANG Lin1, TONG Baohong1,2. Nonlinear robust fuzzy distributed control of vehicle steering with saturation constraint[J]. Journal of Vibration and Shock, 2022, 41(4): 77-85

References

[1]金辉,李世杰.基于极限车速的车辆稳定性控制研究[J].汽车工程,2018,40(1):48-56.
Jin Hui, Li Shijie. A Research on Vehicle Stability Control Based on Limited Speed[J]. Automotive Engineering, 2018,40(1):48-56.
[2]李绍松,郭孔辉,仇韬, 等.极限工况下主动前轮转向汽车稳定性控制[J].汽车工程,2020,42(2):191-198.
Li Shaosong, Guo Konghui, Qiu Tao, et al. Stability Control of Vehicle with Active Front Steering Under Extreme Conditions[J]. Automotive Engineering, 2020,42(2):191-198.
[3]李道飞,喻凡. 基于最优轮胎力分配的车辆动力学集成控制[J]. 上海交通大学学报,2008,42(6):887-891.
Li Daofei; Yu Fan. Integrated Vehicle Dynamics Controller Design Based on Optimum Tire Force Distribution [J]. Journal of shanghai jiaotong university, 2008,42(6):887-891.
[4]张家旭,李静. 带参数摄动的车辆底盘的集成鲁棒混合控制研究[J]. 汽车工程, 2017, 39(3): 335-342.
Zhang Jiaxu, Li Jing. A Research on Robust Hybrid Integrated Control of Vehicle Chassis with Parameter Perturbation[J]. Automotive Engineering: 2017, 39(3): 335-342.
[5]胡延平,陈无畏,刘翔宇, 等.基于非线性直接横摆力矩控制的ESP研究[J].汽车工程,2013,35(5):424-429,434.
Hu Yanping, Chen Wuwei, Liu Xiangyu, etc. A Study on Electronic Stability Program Based on Nonlinear Direct Yaw-moment Control[J]. Automotive Engineering, 2013,35(5):424-429,434.
[6]朱天军, 宗长富, 李飞, 等. 基于线性矩阵不等式的重型车辆防侧翻鲁棒控制算法研究[J]. 汽车工程, 2012, 34(5): 394-398.
Zhu Tianjun, Zong Changfu, Li Fei, et al. A Research on the Robust Rollover Control Algorithm for Heavy Duty Vehicle Based on LMI[J]. Automotive Engineering, 2012, 34(5): 394-398.
[7]张征,马晓军,刘春光, 等.基于分层模型的轮毂电机驱动车辆直接横摆力矩控制[J].农业机械学报,2019,50(12):387-394.
Zhang Zheng, Ma Xiaojun, Liu Chunguang, et al, Direct Yaw Moment Control Based on Hierarchical Model for In-wheel Motor Drive Vehicles[J]. Transactions of the Chinese Society for Agricultural Machinery2019,50(12):387-394.
[8]李静,张家旭. 基于鲁棒L2-L∞/H∞的车辆底盘集成控制[J]. 吉林大学学报（工学版）,2016,46(6):1757-1764
Li Jing; Zhang Jia-xu, Integrated control of vehicle chassis system based on robust L2-L∞/H∞ method[J]. Journal of Jilin University(Engineering and Technology Edition,2016,46(6):1757-1764.
[9]辛喆,陈海亮,林子钰,等. 智能汽车的路面附着极限横向轨迹跟踪控制[J]. 机械工程学报, 2020, 56(14): 138-145.
Xin Zhe, Chen Hailiang, Lin Ziyu, et al. Lateral Trajectory Following for Automated Vehicles at Handling Limits[J]. Journal of Mechanical Engineering, 2020, 56(14): 138-145.
[10]魏振亚,王其东,王慧然,等. 基于主动转向与差动制动协调的双级预警车道偏离防止预测控制[J]. 汽车工程, 2019, 41(8): 934-943,952.
Wei Zhenya, Wang Qidong, Wang Huiran, et al. Predictive Control for Lane Departure Prevention with Two-stage Warning Based on Coordination of Active Steering and Differential Braking[J]. Automotive Engineering, 2019, 41(8): 934-943, 952.
[11]Xinbo Ma, Pak Kin Wong, Jing Zhao, Zhengchao Xie, Cornering stability control for vehicles with active front steering system using T-S fuzzy based sliding mode control strategy, Mechanical Systems and Signal Processing, 2019,125: 347-364.
[12]H. Zhang, J. Wang, State estimation of discrete-time Takagi-Sugeno fuzzy systems in a network environment[J], IEEE Transactions on Cybernetics, 2015, 45: 1525-1536.
[13]J. H. Kim and F. Jabbari, Actuator saturation and control design for buildings under seismic excitation[J], J. Eng. Mech., 2002,128(4): 403-412.
[14]段建民,黄小龙,陈阳舟. 具有输入时滞的主动悬架鲁棒补偿控制[J]. 振动与冲击, 2020,39(24): 254-263,277.
Duan Jianmin; Huang Xiaolong; Chen Yangzhou. Robust compensation control for active suspension subject to input delay[J]. Journal of Vibration and Shock,2020,39(24):254-263,277.
[15]Y.-Y. Cao and Z. Lin, Robust stability analysis and fuzzy-scheduling control for nonlinear systems subject to actuator saturation[J], IEEE Transactions on Fuzzy Systems, 2003,11(1): 57-67.