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Vehicle active steering control research based on two-DOF robust internal model control

Abstract

Because of vehicle’s external disturbances and model uncertainties, robust control algorithms have obtained popularity in vehicle stability control. The robust control usually gives up performance in order to guarantee the robustness of the control algorithm, therefore an improved robust internal model control(IMC) algorithm blending model tracking and internal model control is put forward for active steering system in order to reach high performance of yaw rate tracking with certain robustness. The proposed algorithm inherits the good model tracking ability of the IMC control and guarantees robustness to model uncertainties. In order to separate the design process of model tracking from the robustness design process, the improved 2 degree of freedom(DOF) robust internal model controller structure is given from the standard Youla parameterization. Simulations of double lane change maneuver and those of crosswind disturbances are conducted for evaluating the robust control algorithm, on the basis of a nonlinear vehicle simulation model with a magic tyre model. Results show that the established 2-DOF robust IMC method has better model tracking ability and a guaranteed level of robustness and robust performance, which can enhance the vehicle stability and handling, regardless of variations of the vehicle model parameters and the external crosswind interferences. Contradiction between performance and robustness of active steering control algorithm is solved and higher control performance with certain robustness to model uncertainties is obtained.

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Authors and Affiliations

Authors

Corresponding author

Correspondence to Yahui Liu.

Additional information

Supported by National Natural Science Foundation of China(Grant No. 51375009), PhD Research Foundation of Liaocheng University, China(Grant No. 318051523), and Tsinghua University Initiative Scientific Research Program, China

WU Jian, born in 1982, is currently an instructor at Liaocheng University, China. He received his PhD degree from Nanjing University of Aeronautics and Astronautics, China, in 2015. His research interests include vehicle lateral dynamics control, vehicle active safety control and automated steering control.

LIU Yahui, born in 1980, is currently an instructor at Department of Automotive Engineering, Tsinghua University, China. He received his PhD degree from Beihang University, China, in 2009. His research interests include vehicle steering system technologies, vehicle lateral dynamics control and automated steering control.

WANG Fengbo, born in 1979, is an instructor at Liaocheng University, China. His research interests include vehicle dynamics control, vehicle active safety and automotive electronics.

BAO Chunjiang, born in 1968, is a professor at Liaocheng University, China. His research interests include new energy vehicles technologies and automotive electronics.

SUN Qun, born in 1979, is a vice professor at Liaocheng University, China. He received his PhD degree from Beihang University, China, in 2007. His research interests include man-machine system and intelligent robotics.

ZHAO Youqun, born in1968, is a professor at Nanjing University of Aeronautics and Astronautics, China. He received his PhD degree from Jilin University, China, in 1998. His research interests include vehicle dynamics control and autonomous vehicle control.

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Wu, J., Liu, Y., Wang, F. et al. Vehicle active steering control research based on two-DOF robust internal model control. Chin. J. Mech. Eng. 29, 739–746 (2016). https://doi.org/10.3901/CJME.2016.0112.006

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  • DOI: https://doi.org/10.3901/CJME.2016.0112.006

Keywords

  • active steering
  • internal model control
  • model tracking
  • robust performance
  • crosswind disturbances