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Research Papers

Development of Hierarchical Control Logic for Two-Channel Hydraulic Active Roll Control System

[+] Author and Article Information
Dawei Pi

School of Mechanical Engineering,
Nanjing University of Science and Technology,
No. 200 Xiaolingwei Street,
Xuanwu District,
Nanjing 210094, Jiangsu, China
e-mail: pidawei@mail.njust.edu.cn

Xianhui Wang

School of Mechanical Engineering,
Nanjing University of Science and Technology,
No. 200 Xiaolingwei Street,
Xuanwu District,
Nanjing 210094, Jiangsu, China
e-mail: 13770669850@139.com

Hongliang Wang

School of Mechanical Engineering,
Nanjing University of Science and Technology,
No. 200 Xiaolingwei Street,
Xuanwu District,
Nanjing 210094, Jiangsu, China
e-mail: Whl343@163.com

Zhenxing Kong

School of Mechanical Engineering,
Nanjing University of Science and Technology,
No. 200 Xiaolingwei Street,
Xuanwu District,
Nanjing 210094, Jiangsu, China
e-mail: 1633477399@qq.com

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received October 18, 2016; final manuscript received December 20, 2017; published online May 22, 2018. Assoc. Editor: Jingang Yi.

J. Dyn. Sys., Meas., Control 140(10), 101009 (May 22, 2018) (14 pages) Paper No: DS-16-1504; doi: 10.1115/1.4039185 History: Received October 18, 2016; Revised December 20, 2017

In this paper, a hierarchical control logic for two-channel hydraulic active roll control (ARC) system, which includes vehicle level control and actuator level control is proposed. Vehicle level control consists of antiroll torque controller and antiroll torque distributor. The antiroll torque controller is designed with “PID + feedforward” algorithm to calculate the total antiroll moment. The antiroll torque distributor is devised based on fuzzy control method to implement an antiroll moment allocation between the front and rear stabilizer bar. Actuator level control is designed based on pressure and displacement, respectively. The contrastive analysis of the two proposed actuator control method is presented. The hardware-in-the-loop (HIL) test platform is proposed to evaluate the performance of the devised control algorithm. The HIL simulation result illustrates that actuator displacement control could generate a relatively accurate antiroll moment, and the vehicle roll stability, yaw stability can be enhanced by the proposed ARC control method.

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References

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Figures

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Fig. 1

Schematic view of ARC: (a) hydraulic valve unit of ARC and (b) behavior of ARC

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Fig. 2

Schematic of vehicle model

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Fig. 3

Control scheme of hydraulic ARC

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Fig. 4

Schematic of antiroll torque controller

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Fig. 5

Roll angle reference model

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Fig. 6

Schematic of the antiroll torque distributor

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Fig. 7

The phase plane of yaw rate error and stability factor

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Fig. 8

Membership functions of input and output variables

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Fig. 9

Force diagram of hydraulic ARC

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Fig. 10

Schematic of HIL test platform

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Fig. 11

Front wheel steering angle under double-lane-change (DLC) maneuver

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Fig. 12

Actuators response under DLC maneuver: (a) displacement control and (b) pressure control

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Fig. 13

Antiroll torque under DLC maneuver: (a) displacement control and (b) pressure control

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Fig. 14

The regulation error

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Fig. 15

Actuator displacement under J-turn maneuver: (a) front hydraulic cylinder and (b) rear hydraulic cylinder

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Fig. 16

Antiroll torque under J-turn maneuver: (a) front axle and (b) rear axle

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Fig. 17

The vertical load and lateral LTR: (a) without control, (b) 2-channel control, and (c) lateral LTR

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Fig. 18

Roll states under J-turn maneuver: (a) roll angle and (b) roll rate

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Fig. 19

The PSD of roll rate

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Fig. 20

Distribution factor

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Fig. 21

Yaw rate under J-turn maneuver

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