Research Papers

RMPC-Based Directional Stability Control for Electric Vehicles Subject to Tire Blowout on Curved Expressway

[+] Author and Article Information
Lu Yang, Wenbin Hou

School of Automotive Engineering,
Dalian University of Technology,
Dalian 116024, China

Ming Yue

School of Automotive Engineering,
Dalian University of Technology,
Dalian 116024, China
e-mail: yueming@dlut.edu.cn

Jie Wang

School of Information Science and Technology,
Dalian Maritime University,
Dalian 116026, China

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT,AND CONTROL. Manuscript received May 16, 2018; final manuscript received November 13, 2018; published online December 19, 2018. Assoc. Editor: Fengjun Yan.

J. Dyn. Sys., Meas., Control 141(4), 041009 (Dec 19, 2018) (9 pages) Paper No: DS-18-1239; doi: 10.1115/1.4042029 History: Received May 16, 2018; Revised November 13, 2018

This paper presents a directional stability control based on robust tube-based model predictive control (RMPC) approach for an overactuated electric vehicle after tire blowout on curved expressway, in the presence of the exogenous disturbances, such as cross wind and road variation. To begin with, the vehicle dynamic simulation platform allowing for the tire vertical force redistribution after tire blowout is presented, and the reliability of the platform is further analyzed by comparing with the existing experimental test results. After that, a RMPC-based controller is designed to enhance the directional stability performance of the vehicle on curved expressway after tire burst. Also, a pseudo inverse switch control allocator is developed to realize the allocation of the desired resultant signal for the remained effective wheels at the last stage. In the end, the simulation results conducting on the depicted simulation platform demonstrate the favorable maneuverability of the proposed method over the conventional model predictive control (MPC) in enhancing directional stability performance of the vehicle after a tire blowout on curved expressway.

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Fig. 1

Vehicle dynamic model after a tire blowout

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Fig. 2

Vehicle motion response along with different longitudinal velocities

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Fig. 3

Schematic diagram of the control system

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Fig. 4

(a) Vehicle motion trajectories with/without a tire blowout and (b) vehicle movements with respect to road geometry

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Fig. 5

Tire vertical force distribution with the proposed method

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Fig. 6

Directional stability performance

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Fig. 7

Vehicle dynamics responses

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Fig. 8

State trajectories for lateral offset yL

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Fig. 9

State trajectories for angular error εL

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Fig. 10

System control input

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Fig. 11

Directional stability evaluation indexes



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