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Research Papers

Vehicle Dynamics Control by Using an Active Gyroscopic Device

[+] Author and Article Information
Behrooz Mashadi

School of Automotive Engineering,
Iran University of Science and Technology,
Tehran 1684613114, Iran
e-mail: b_mashhadi@iust.ac.ir

Meysam Gowdini

School of Automotive Engineering,
Iran University of Science and Technology,
Tehran 1684613114, Iran

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received December 27, 2013; final manuscript received August 31, 2015; published online September 25, 2015. Assoc. Editor: Junmin Wang.

J. Dyn. Sys., Meas., Control 137(12), 121007 (Sep 25, 2015) (12 pages) Paper No: DS-13-1533; doi: 10.1115/1.4031532 History: Received December 27, 2013; Revised August 31, 2015

In this research, a gyroscopic device has been introduced for the purpose of vehicle handling enhancement. An optimal linear quadratic regulator controller (LQR) is designed based on the gyroscope–vehicle simple linear equations. This controller by using a gyroscope system is shown to enable the vehicle to follow the desired input. The desired vehicle dynamic motion is assumed in the form of the steady motion of the bicycle model. The desired motion for the gyroscope is a condition in which the gyroscope frame angular velocity is zero. A ten degrees-of-freedom (DOF) full vehicle model, consisting of 9DOF for the nonlinear vehicle model including the Magic Formula tire model and a nonlinear 1DOF gyroscope model, is used for the simulation purposes. In various maneuvers, the performance of the gyroscopic system with that of the conventional direct yaw moment control (DYC) system performance is compared. Simulation results show that on dry and slippery roads, the performances of gyroscope system and DYC are both desirable. On a μ-split road condition, DYC fails and is not effective whereas the gyroscope system has a very good performance.

Copyright © 2015 by ASME
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References

Figures

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Fig. 1

A 8DOF nonlinear vehicle model

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Fig. 2

The gyroscope and motors M1 and M2

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Fig. 3

Structure of the control system

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Fig. 4

Variations of feedback gains Kr (a), Kθ˙ (b), Kv (c), and feed-forward gain Kδ (d) versus vehicle speed

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Fig. 5

Input steering wheel angle

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Fig. 6

Comparison of the responses of the 9DOF model with carsim: (a) yaw rate, (b) lateral acceleration, (c) roll angle, and (d) sideslip angle

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Fig. 7

Steering wheel angle input for the J-turn maneuver

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Fig. 8

Responses of vehicle during a J-turn maneuver on a low-friction road: (a) yaw rate, (b) sideslip angle, and (c) lateral acceleration

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Fig. 9

External yaw moment produced by the gyroscope during a J-turn maneuver on a low-friction road

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Fig. 10

Gyroscope gimbal angle variation during a J-turn maneuver on a low-friction road

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Fig. 11

Steering wheel angle input for the lane-change maneuver on a low-friction road

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Fig. 12

Responses of vehicle during a lane-change maneuver on a low-friction road: (a) yaw rate, (b) sideslip angle, and (c) lateral acceleration

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Fig. 13

External yaw moment applied on vehicle for a lane-change maneuver on a low-friction road

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Fig. 14

Gyroscope gimbal angle variation during a lane-change maneuver on a low-friction road

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Fig. 15

Responses of vehicle during sudden entry to a slippery road: (a) yaw rate, (b) sideslip angle, and (c) lateral acceleration

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Fig. 16

External yaw moment applied on vehicle for a sudden entry on a slippery road

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Fig. 17

Gyroscope gimbal angle variations for a sudden entry on a slippery road

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Fig. 18

Responses of vehicle during a J-turn maneuver on a μ-split road: (a) yaw rate, (b) sideslip angle, and (c) lateral acceleration

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Fig. 19

External yaw moment applied during a J-turn maneuver on a μ-split road

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Fig. 20

Gyroscope gimbal angle variations for a J-turn maneuver on a μ-split road

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Fig. 21

Yaw rate of vehicle during a J-turn on μ-split road with noisy signals

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Fig. 22

Sideslip of vehicle during a J-turn on μ-split road with noisy signals

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Fig. 23

Gyroscope frame angle during a J-turn on μ-split road with noisy signals

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