This paper presents a predictive vehicle directional stability control structure that has integrated energy-loss reduction benefits during transient handling maneuvers. The method is based on the idea of balancing longitudinal and lateral tire force saturation levels using a cascade model predictive structure for the optimal distribution of tractive or braking torques. Balancing saturation levels also has the added benefit of reducing and evening-out tire wear. To demonstrate the energy-loss reduction benefits, we consider nonlinear simulations of a nominally unstable truck featuring an independent drive system. Comparisons against a commonly cited brake-based yaw stability control strategy with similar directional control performance shows that the proposed predictive saturation management approach provides energy-loss reductions of more than 60%. This energy efficiency benefits are retained whether or not the drive system has regenerative/energy recovery capabilities.
- Dynamic Systems and Control Division
Energy Efficient Cascade Predictive Vehicle Stability Control
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Sill, J, & Ayalew, B. "Energy Efficient Cascade Predictive Vehicle Stability Control." Proceedings of the ASME 2012 5th Annual Dynamic Systems and Control Conference joint with the JSME 2012 11th Motion and Vibration Conference. Volume 1: Adaptive Control; Advanced Vehicle Propulsion Systems; Aerospace Systems; Autonomous Systems; Battery Modeling; Biochemical Systems; Control Over Networks; Control Systems Design; Cooperative and Decentralized Control; Dynamic System Modeling; Dynamical Modeling and Diagnostics in Biomedical Systems; Dynamics and Control in Medicine and Biology; Estimation and Fault Detection; Estimation and Fault Detection for Vehicle Applications; Fluid Power Systems; Human Assistive Systems and Wearable Robots; Human-in-the-Loop Systems; Intelligent Transportation Systems; Learning Control. Fort Lauderdale, Florida, USA. October 17–19, 2012. pp. 867-874. ASME. https://doi.org/10.1115/DSCC2012-MOVIC2012-8668
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