Professional Documents
Culture Documents
Etd 0809112 163833
Etd 0809112 163833
Chin-yuan Hsiao
Dr.Yih-Tun Tseng
101 7
July 2012
ii
iii
Abstract
The goal of this thesis is to develop an active front steering(AFS) control system
which can apply to ordinary vehicle. This AFS control system stabilizes the driving
vehicle and reduces the possibility of rollover. This thesis uses magic formula tire model
and constructs a vehicle model with eight degrees of freedom to study the dynamic
behavior of the real driving vehicle. This thesis constructs a vehicle model with three
degrees of freedom and eight degree of freedom, compare with two vehicle model, we
adopt eight vehicle model in this thesis. The advantages of PI controller are low cost
and easy to modify, so this thesis adopts PI controller as the control strategy. This study
uses four simulate methods and compares the simulated results to develop the AFS
control system which can apply to ordinary vehicle.
Keywords: Active front steering, Vehicle model, Vehicle rollover, PI control, tire
model
iv
i
.......................ii
..iii
Abstract.....iv
...v
.....vii
...x
..xi
....1
1.1
......1
1.2
......3
1.3
......3
....5
2.1
2.2
-.....5
2.1.1
.5
2.1.2
..7
2.2.1
.8
2.2.2
...10
2.2.3
..11
2.2.4
...14
..17
3.1
....17
v
3.2
26
..28
4.1
....28
4.2
43
4.3
45
..46
5.1
46
5.2
....47
5.2.1
...48
5.2.2 PI ...51
5.3
53
5.3.1
(J-turn) ..55
5.3.2
5.3.3
...64
5.3.4
...69
..71
6.1
71
6.2
72
.74
.....80
vi
1.1
..1
1.2
(SUV)...2
1.3
..3
2.1
..6
2.2
..7
Fuzzy ...9
2.5
PID ...9
2.6
10
2.7 LPV 11
2.8 TTR 11
2.9
2.10
AFS .....12
AFS+DYC ...15
2.15
AFS+DYC ...15
3.5 ..26
3.6 ......27
3.7 ..27
4.1 ..29
4.2 ..30
4.3 ..33
4.4 ..38
4.5 ..40
4.6 ..41
4.7 ..42
4.8 ..43
4.9 ..44
4.10 44
5.1 AFS ...47
5.2 AFS ...48
5.3 ......48
5.4 PI ...52
5.5 PI .......52
5.6 (J-turn)..55
5.7 ..55
5.8 (40km/h)...56
5.9 (40km/h)() LTR() .57
5.10 (80km/h).58
5.11 (80km/h)() LTR() ...58
5.12 (Lane change).59
5.13 59
viii
ix
4.1
37
5.1
54
m
m
m
g
I
I
I /
V
V
a
a
F
F
M
M
M
h
l
l
w
xi
V
L
a
,CH
,CH
h
K
C
K
K
C
C
T()
R
I
F
F
FZFL
FZFR
FZRL
FZRR
B ,
C ,
xii
D ,
E ,
FSF
FSR
VCOG
F
R
FL
FR
xiii
1.1
3700
33%
1.1
(Rollover)
1.2 (SUV)
(tripping rollover)
(skid)
(untripped rollover)
1.3
1.2
1.3
2.1 -
(bicycle
model)(four wheel model)
(yaw rate)
(pitch)
2.1.1
R.M.H. Cheng(1992)[1]
3m/s
Ferhat Saglam(2011)[2]
2.1
2.1
2.1.2
2.3
(Steer-By-Wire)
3m/s
H. B. Pacejka (1997)[9] MF MF
(Lane change)
(Double lane change)(J-turn)ABS
MF
2.2
2.2
2.2.1
Lifu Wang(2009)[10]
DDAS(Demand Dependent Active Suspension) 2.3
2.3 DDAS
Zulkiffli Abd.Kadir(2011)[11]S.Ikenaga(2000)[12]
Fuzzy
2.4
2.4 Fuzzy
PID
2.5
2.5 PID
9
2.2.2
Selim Solmaz(2008)[15]
2.6
P. Gaspar(2005)[16]
(LPV) 2.7
10
2.7 LPV
2.8 TTR
2.2.3
(AFS)(EPS)(SBW)
AFS
AFS
11
Qiang Li(2010)[18](Fuzzy)
2.9
2.10 AFS
12
2.11 AFS Mu
13
Fu Xiuwei(2009)[24]
PID
PID AFS 2.13
2.2.4
AFS (DYC,
Direct Yaw Control)DYC
DYC
Lixia Zhang(2009)[25]Aijun Hu(2011)[26](SMC)
2.14
DYC
AFS
14
2.14 AFS+DYC
R. Karbalaei(2007)[27]Jiang Wei(2006)[28](Fuzzy)
AFS+DYC
DYC
AFS AFS
AFS+DYC DYC
2.15
2.15 AFS+DYC
15
2.16 AFS+DYC H /H
16
3.1
3.1
1.
2.
3.
4.
5.
6.
7. .
17
3.1
3.2 3.3 XY
YZ
L
Fr
lr
r
lf
Ff
X
f f
Y
3.2
18
hs
ms g
Z
K , C
Fzr
Fzl
3.3
(3.1)
(sprung mass, m )
(unsprung mass, m )
m
(3.2)
(3.2)(3.1)
(3.3)
19
1. X u
2. Y v
3. Z w
4. X p
5. Y q
6. Z
(3.4)
(3.5)
o
(3.5)
(3.6)
20
Y (3.6)
(3.7)
(3.3)
(3.8)
3.2
(3.9)
(3.10)
(3.11)
(3.12)
21
(3.13)
(3.14)
(3.14)(3.10)
(3.15)
3.2 z (3.15)
(3.16)
(3.17)
(3.11)(3.11)
(3.18)
22
(3.14)
(3.19)
(3.7)
(3.20)
x (3.20)
(3.21)
sin
K C
(3.22)
(3.9)(3.16)
23
(3.23)
(3.24)
3.4
3.4(3.25)(3.26)
(2.25)
(2.26)
24
(3.25)(3.26)
(3.27)
(3.28)
(3.23)(3.24)
(3.29)
(3.30)
2
2
2
2
(3.31)
(3.32)
(3.33)
25
3.2
3.1
Matlab/Simulink 3.5
1
s
Vy
yaw
t
To Workspace
Clock
To Workspace3
Scope
1
s
Yaw rate
Product
16.67
Add
Divide
Vx
2325
m
pi
steering angle
Ramp
Gain
Divide2
1.05
180
Lf
Vx
Ramp1
Divide1
Constant
3500
Iz
Vy
1.75
Lr
y aw rate
Subsystem
25
Ixz
2090
Add1
0.6
ms1
hs1
25
Ixz1
86000
K
1
s
1
s
roll rate
roll angle
2090
9.8
g
ms
Scope1
0.6
hs
5400
C
3.5
26
Add2
[18][21]
3.6
3.7
0.05
-0.01
0
-0.02
-0.03
-0.04
-0.05
-0.1
-0.05
-0.15
-0.06
-0.07
10
15
-0.2
Time (s)
10
Time (s)
3.6
3.7
27
15
Magic formula
4.1
4.1
4.1
28
4
4.1
1.
2.
3.
4.
5.
6. .
29
hs
ms g
Fb3
Fb4
Fa3
K , C
Fa4
lr
Z
Fb1
lf
Fa1
Fb2
Fa2
4.2
(4.1)
30
(3.7)
(4.2)
(4.2)
(4.3)
(4.4)
(4.5)
(4.5)
(4.6)
(4.7)
31
(4.8)
z (4.7)
(4.9)
(4.10)
(4.7)(4.10)
(4.11)
(3.14)
(4.12)
x (4.10)
32
(4.13)
sin
K C
(4.14)
F F 1,2,3,4
m m m
I I w
l l I /
h K K
C C
4.3
(4.17)~(4.20)
Ti
Rw
Fai
Fzi
4.3
33
(4.15)
(4.15)
(4.16)
(4.16)
(4.17)
(4.18)
(4.19)
(4.20)
I R T
()
34
(4.21)
(4.22)
(4.23)
(4.24)
(4.25)
(4.26)
(4.27)
(4.28)
(4.21)~(4.28)
35
3 ~5 0.4g
Pacejka Magic formula tire
(4.29)(4.30)
(F )
1,2,3,4 (4.29)
1,2,3,4 (4.30)
B , C , D ,
E ,
36
4.1
22
1940
645
22
1940
430
1.35
1940
16125
1.35
1940
16125
2000
1940
0.956
1750
1940
0.956
-3.6
0.1
22
1.26
0.0003
5200
4000
5200
32750
1.8096
22.73
-1.6
4.1
37
4.4
4.4
Vi
4.4
(4.31)
(4.32)
(4.33)
(4.34)
(slip ratio)
38
()
i
1,2,3,4
(4.35)
1,2,3,4
(4.36)
4.2
(4.37)
(4.38)
(4.39)
(4.40)
[35]
a
,CH a ,CH
(4.41)
(4.42)
39
4.5
max,CH
hcg
FZF
lr
lf
FZR
4.5
4.5
(4.43)
(4.45)
(4.46)
(4.47)
4.6
40
m* ay,CH
hcg
m* g
FZFR
FZFL
4.6
(4.48)
(4.48)m 4.6
(4.49)
(4.50)
(4.51)
(4.52)
(4.46)(4.47)(4.48)
41
(4.53)
(
(4.54)
(
(4.55)
(
(4.56)
(
h
h
(4.299)(4.30)
4.7
8--DOF
MATLAB/sim
M
mulink
8-DOF
( )
(T
T )
42
4.2
4.1
Matlab/Simulink 4.8
[18]
pi
delta
wheel angle
Gain
Divide
Fxf l
180
Vy 1
Fy f l
Constant1
Fzf l
Fzf l
Fy f r
ax
Fxf l
Fxf r
Fzf r
Fzf r
Fzrl
Fzrl
Fxrl
Fxrr
Fy f l
ax
ay
Vy
Fzrr
Fzrr
y aw v
Fy f r
x-direction
delta
FL slip angle
FL slip
FR slip angle
FR slip
delta
Fxf l
33.33
Vx
Fxf r
y aw v
Vx1
Fy f l
Vy
RL slip angle
Fxf r
RL slip
Fxrl
y aw rate
Fy f r
RR slip angle
RR slip
y aw a
delta
Fxf l
wf l
Fxrr
Saf l
Memory1
wf r
w fr
wrl
w rl
roll a
Fxrr
Saf r
Saf r
Fxf r
Fy rl
Mz
Fxrr
Fy rr
Fy f r
wrr
Sarl
Sarl
Sarr
Sarr
ay
Fy rl
w rr
Memory2
Fy rr
ay
Fy rl
Fy f l
Fxrl
600
roll s
Vy
Fxf l
Saf l
Fxf r
y aw a
Fxrl
w fl
Fy rr
wheel
0.85
width/2
width/2
33.33
Vx
Vx
y aw v
roll a
y-direction
4.8
43
Sy
roll a
yaw plane
roll plane
4.9 [18]
1 30km//h
0.8[18]
30km/h
0.005
0.1
0.08
-0.005
Sideslip angle(rad)
Yaw rate(rad/s)
30km/h
0.12
0.06
0.04
0.02
-0.01
-0.015
-0.02
-0.025
Time(s)
Time(s)
4.9
4.10
44
4.3
5 60kmh
4.10
0.4
0.35
0.3
0.25
0.2
0.15
0.1
3-DOF
0.05
8-DOF
0
Time (s)
4.10
45
10
5.1
BMW
BMW 5
46
181
18 1 AFS
101
201
5.1 AFS
5.1 AFS
5.2
47
(5.1)
(5.1) AFS
AFS
fd
f
model
5.2 AFS
5.2.1
[35]
y y z
5.3
VCOG
R
FSR
FSF
lf
lr
L
5.3
48
Y
X
(5.2)
(5.3)
(5.4)
(5.5)
(5.6)
(5.7)
(5.6)(5.7)
5.3 5.3
(5.8)
(5.9)
5
sin
cos
(5.10)
49
(5.6)(5.7)
(5.11)
(5.12)
(5.11)(5.12)(5.3)(5.5)
(5.13)
(5.14)
(5.15)
(5.16)
m I VCOG
l l CF CR
(4.15)
50
(5.17)
(5.18)
[35]
0.85
(5.19)
5.2.2 PI
PI
-(PI)
PI
[34] 1998
90% PID PID
4.1 Matlab/Simulink
AFS PI
PI
51
(5.20) PI
(5.20)
(5.20) k k
5.4 PI
Kp
Delta angle
Saturation
ki
Add
1
s
Integrator
5.4 PI
PI
Matlab/Simulink
Angle
Front wheel angle
(driver)
angle
y aw rate
Delta y aw rate
y aw rate
Delta angle
Add
Reference model
PI controller
5.5 PI
52
5.3
(AFS)
ISO
[30][31] LTR(Loading Transfer Ratio)
LTR
FL FR
LTR
LTR 0LTR
1 -1 0
0.8
[6]
53
5.1
2325 kg
ms
2090 kg
9.8 m/s
750 kgm
3500 kgm
25 kgm
2.1 kgm
1.7 m
1.05 m
1.75 m
0.925 m
0.6 m
0.35 m
86000 Nm/rad
5400 Nms/rad
54
5.3.1 (J-turn)
(J-turn)
40km/h 80km/h
5.7
5.6 (J-turn)
Time(s)
5.7
55
10
(40km/h)
(AFS)
15%
0.22
AFS
(40km/h) 40km/h 2
5 (
K K
40km/h
0.25
0.2
0.15
0.1
PI control
0.05
no control
reference
Time(s)
5.8 (40km/h)
56
10
40km/h
40km/h
0.04
PI control
-0.02
0.035
no control
-0.04
0.03
-0.08
LTR
-0.06
0.025
0.02
-0.1
-0.12
0.015
-0.14
0.01
-0.16
PI control
0.005
-0.18
no control
0
-0.2
10
10
Time(s)
Time(s)
(80km/h)
5.10 5.11
7%
40km/h
0.3
0.3528
40km/h
LTR AFS
AFS
LTR
(80km/h) 80km/h 2
5 (
K K
57
80km/h
0.35
0.3
0.25
0.2
0.15
0.1
PI control
0.05
no control
reference
10
Time(s)
5.10 (80km/h)
80km/h
80km/h
0.1
PI control
0.09
no control
-0.1
0.08
-0.2
0.06
-0.3
LTR
0.07
0.05
-0.4
0.04
0.03
-0.5
0.02
PI control
0.01
-0.6
no control
-0.7
0
10
10
Time(s)
Time(s)
(Lane change)
5.12
5.13
58
-2
-4
-6
10
Time(s)
5.13
ISO ISO
3888-1
ISO/TR 3888-1
5.14 5.2
1.7m 125m
59
25
3.5
1.2+0.25
25
15
1.3+0.25
15
1.3+0.25
15
1.1*+0.25
30
60
(40km/h)
5.16
0.29
0.7056
LTR
AFS
(
K K
40km/h
0.3
0.2
0.1
-0.1
-0.2
PI control
-0.3
-0.4
no control
reference
0
Time(s)
5.15 (40km/h)
61
10
40km/h
5
PI control
no control
Y position(m)
-1
20
40
60
80
100
120
140
X position(m)
5.16 (40km/h)
40km/h
40km/h
0.06
0.25
PI control
0.2
no control
0.04
0.15
0.1
0.05
LTR
0.02
0
-0.05
-0.02
-0.1
-0.15
-0.04
PI control
-0.2
no control
-0.06
-0.25
10
Time(s)
10
Time(s)
(80km/h)
5.18
5.19
AFS
LTR
62
AFS
40km/h
AFS
0.3
.
0.3528
(
K K
80km/h
0.4
0.3
0.2
0.1
-0.1
-0.2
PI control
no control
-0.3
reference
-0.4
Time(s)
5.18 (80km/h)
63
10
80km/h
5
PI control
no control
Y position(m)
-1
20
40
60
80
100
120
140
X position(m)
5.19 (80km/h)
80km/h
80km/h
0.15
0.6
0.1
0.4
0.05
0.2
no control
LTR
PI control
-0.05
-0.2
-0.1
-0.4
PI control
-0.15
-0.6
no control
-0.2
-0.8
10
Time(s)
10
Time(s)
5.3
ISO 2631-1
64
0.315m/s
0.315m/s ~0.63m/s
0.5m/s ~1m/s
0.8m/s ~1.6m/s
1.25m/s ~2.5m/s
2m/s
5.3
5.21
-1
-2
-3
-4
Time(s)
5.21
65
10
(40km/h)
5.22
5.3
5.23
2m/s
2m/s
(40km/h) 40km/h S
(
40km/h
40km/h
0.4
0.1
PI control
no control
PI control
0.08
no control
0.06
0.2
0.3
0.1
-0.1
-0.2
0.04
0.02
0
-0.02
-0.04
-0.3
-0.4
-0.06
-0.08
10
Time(s)
Time(s)
5.22 (40km/h)()()
66
10
40km/h
4
PI control
no control
-1
-2
-3
-4
10
Time(s)
5.23 (40km/h)
(80km/h)
5.24
40km/h 2
5.25
(80km/h) 80km/h S
(
67
80km/h
80km/h
0.3
0.8
PI control
PI control
0.6
no control
no control
0.2
0.2
-0.2
0.1
-0.1
-0.2
-0.4
-0.3
-0.6
-0.8
-0.4
10
Time(s)
Time(s)
5.24 (80km/h)()()
80km/h
8
PI control
6
no control
0.4
-2
-4
-6
-8
Time(s)
5.25 (80km/h)
68
10
10
5.4
5.18
AFS
LTR
5.26 (Rollover)
2 LTR
AFS AFS
69
100km/h
(
(12 )
100km/h
100km/h
1.2
0.8
PI control
0.7
no control
1
0.6
LTR
0.8
0.5
0.4
0.6
0.3
0.4
0.2
PI control
0.2
0.1
no control
0
1.95
2.05
2.1
0
1.9
2.15
1.95
2.05
Time(s)
2.1
2.15
2.2
Time(s)
(16 )
100km/h
100km/h
0.8
1.2
PI control
0.7
no control
0.6
LTR
0.8
0.5
0.4
0.6
0.3
0.4
0.2
0.2
PI control
no control
0.1
1.96
1.98
2.02
2.04
2.06
0
1.985
1.99
1.995
Time(s)
Time(s)
70
2.005
2.01
6.1
(1) (AFS)
(3)
LTR AFS
LTR
(4)
AFS
(5) AFS
(6) AFS
AFS
(7)
71
6.2
14 6.1
6.2
AFS
72
6.1
6.2
73
[1] R.M.H. Cheng, M.G. Mehrabi, Dynamic Modelling of Wheeled Mobile Robots
and Automated Transit Vehicles using Dimensionless "Roll Number", Proc
of Control Applications, 1992., First IEEE Conference on, pp.160-171 vol.1, 1992
[2] Ferhat Saglaml, Y.Samim Unlusoy, Identification of Low Order Vehicle
Handling Models from Multibody Vehicle Dynamics Models, Proc of
Mechatronics (ICM), 2011 IEEE International Conference on, pp.96-101, 2011
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79
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