Research Papers

Dynamics and Control of a Novel Active Yaw Stabilizer to Enhance Vehicle Lateral Motion Stability

[+] Author and Article Information
Fengchen Wang

The Polytechnic School,
Arizona State University,
7442 E. Tillman Ave, SIM 140,
Mesa, AZ 85212
e-mail: fengchen.w@asu.edu

Yan Chen

The Polytechnic School,
Arizona State University,
7171 E. Sonoran Arroyo Mall, PRLTA 330M,
Mesa, AZ 85212
e-mail: yanchen@asu.edu

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received January 28, 2017; final manuscript received January 18, 2018; published online March 13, 2018. Assoc. Editor: Azim Eskandarian.

J. Dyn. Sys., Meas., Control 140(8), 081007 (Mar 13, 2018) (9 pages) Paper No: DS-17-1054; doi: 10.1115/1.4039187 History: Received January 28, 2017; Revised January 18, 2018

In this paper, a novel active yaw stabilizer (AYS) system is proposed for improving vehicle lateral stability control. The introduced AYS, inspired by the recent in-wheel motor (IWM) technology, has two degrees-of-freedom with independent self-rotating and orbiting movements. The dynamic model of the AYS is first developed. The capability of the AYS is then investigated to show its maximum generation of corrective lateral forces and yaw moments, given a limited vehicle space. Utilizing the high-level Lyapunov-based control design and the low-level control allocation design, a hierarchical control architecture is established to integrate the AYS control with active front steering (AFS) and direct yaw moment control (DYC). To demonstrate the advantages of the AYS, generating corrective lateral force and yaw moment without relying on tire–road interaction, double lane change maneuvers are studied on road with various tire–road friction coefficients. Co-simulation results, integrating CarSim® and MATLAB/Simulink®, successfully verify that the vehicle with the assistance of the AYS system has better lateral dynamics stabilizing performance, compared with cases in which only AFS or DYC is applied.

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Fig. 1

Illustration of the proposed AYS on a vehicle

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Fig. 2

Four-wheel vehicle lateral motion model with the proposed AYS

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Fig. 3

Stabilizer acceleration decompositions

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Fig. 4

Maximum FAYS and MAYS curve with respect to variable R

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Fig. 5

Different compositions of maximum FAYS and MAYS

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Fig. 6

A hierarchical control architecture of over-actuated vehicle lateral dynamics

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Fig. 7

Simulation configuration

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Fig. 8

Sideslip angle and yaw rate responses for a double lane change maneuver on the low-μ road

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Fig. 9

Virtual control tracking performance of the AFS and the AFS + AYS methods on the low-μ road

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Fig. 10

The front left tire lateral tire forces on the low-μ road

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Fig. 11

Side slip angle and yaw rate responses on split-μ road

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Fig. 12

Virtual control tracking performance of the DYC and the DYC + AYS methods on the split-μ road

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Fig. 13

Longitudinal tire forces on the split-μ road



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