Novel Constrained Nonlinear Control of Vehicle Dynamics Using Integrated Active Torque Vectoring and Electronic Stability Control
Novel Constrained Nonlinear Control of Vehicle Dynamics Using Integrated Active Torque Vectoring and Electronic Stability Control
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DOI：
10.1109/tvt.2019.2933229
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发表时间：
2019-08
影响因子：
6.8
通讯作者：
A. Tahouni;M. Mirzaei;Behrouz Najjari
中科院分区：
文献类型：
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作者：
A. Tahouni;M. Mirzaei;Behrouz Najjari
本文研究了一种采用主动转矩矢量控制（ATV）和电子稳定控制（ESC）的新型集成控制系统，以提高车辆的方向稳定性和转向性。该系统采用一种具有输入约束和状态约束的非线性约束控制器来计算稳定偏航力矩。该控制器采用连续非线性车辆模型的预测方法进行设计。当偏航率跟踪其期望响应时，它通过将侧滑角限制在可接受范围内来保证车辆的方向稳定性，从而提高了可操作性。计算得到的偏航力矩由集成的ATV和ESC系统作为驱动和制动力产生。根据集成策略，所需偏航力矩最初由后轮的亚视产生，以保持车辆的行驶性能。由于ATV的局限性，如果需要更大的偏航力矩，ESC系统会对前轮施加非对称制动压力，以补偿ATV的稀缺性。通过该策略，可以实现车辆速度的小幅度降低，并保持车辆的驾驶性能。为了确定全地形车的满载能力，本文考虑了主动微分动力学。利用14自由度车辆模型，通过与无约束控制器和传统非线性模型预测控制器（NMPC）的比较，进行了仿真研究，以评估所提出的约束控制器的有效性。通过分析结果，可以清楚地看到，所提出的控制器速度更快，易于解决和实现。
This study deals with a new integrated control sys-tem using active torque vectoring (ATV) and electronic stability control (ESC) for enhancement of vehicle directional stability and steerability. In this system, the stabilizing yaw moment is calculated using a novel constrained nonlinear controller with both input and state constraints. The proposed controller is designed using the prediction of continuous nonlinear vehicle model. It guarantees the vehicle directional stability by restricting the side slip angle in the admissible range when the yaw rate tracks its desired response for improved steerability. The calculated yaw moment is generated as driving and braking forces by integrated ATV and ESC systems. According to the integration policy, the required yaw moment is initially generated by ATV in the rear wheels to keep the vehicle driving performance. Because of limitation of ATV, if more yaw moment is required, the ESC system applies asymmetric braking pressure to front wheels to compensate the scarcity of ATV. By the proposed strategy, the small reduction of vehicle velocity is achieved and the vehicle drivability performance is maintained. In order to determine the full capacity of ATV, the active differential dynamics is considered in this paper. Simulation studies are conducted to evaluate the efficiency of proposed constrained controller in comparing with the unconstrained controller and a conventional nonlinear model predictive controller (NMPC) developed in the recent papers using 14-DOF vehicle model. By analyzing the results, it is clear that the proposed controller is much faster and easy to solution and implementation.