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A novel adaptive model following controller to enhance steering and roll stability of heavy vehicle

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Abstract

In order to improve steering and roll stability for a heavy vehicle, a novel MIMO (multi-input-multi-output) controller is proposed based on an AMFC theory. A vehicle model considering the lateral motion, yaw motion and roll motion is developed. The establishment of reference models, controlled models and iteration algorithm of the feed-back matrix are presented. The Newton iteration method is used to correct the feed-back matrix in the real time, and the ideal control signal is calculated by the integral feed-forward matrix. The state of controlled model can approach reference model to achieve an adaptive online update for the steering control parameters under the transient conditions. The proposed AMFC have a good improvement in reducing side-slip angle, yaw rate and roll angle. The simulation and HIL experiments demonstrate the effectiveness and reliability of the proposed controller in improving the yaw stability and thus preventing rollover when necessary.

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Acknowledgments

This work was supported by National Natural Science Foundation of China (Grant Nos. 12072204,11572207, 11972238, 11872255), Natural Science Foundation of Hebei Province (Grant No. A2020210039, A2016210103) and Service Center for Experts and Scholars of Hebei Province.

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Authors and Affiliations

  1. State Key Laboratory of Mechanical Behavior and System Safety of Traffic Engineering Structures, Shijiazhuang Tiedao University, Shijiazhuang, 050043, China

    Yongjie Lu & Haoyu Li

  2. Shijiazhuang Tiedao University, Shijiazhuang, 050043, China

    Junning Zhang, Haoyu Li & Yinfeng Han

Authors
  1. Yongjie Lu
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  2. Junning Zhang
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  3. Haoyu Li
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  4. Yinfeng Han
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Corresponding author

Correspondence to Yongjie Lu.

Additional information

Yongjie Lu received Ph.D. degree in Vehicle Operation Engineering from Beijing Jiaotong University, China, in 2011. Now she works at Shijiazhuang Tiedao University as a Professor. Her current research interests include vehicle-road interaction dynamics and control.

Junning Zhang received Master degree in Mechanic Engineering from Shijiazhuang Tiedao University, China, in 2017. Now he is studying for Ph.D. degree in Shijiazhuang Tiedao University. His current research interests include vehicle dynamics and active control.

Haoyu Li received Ph.D. degree in Vehicle Engineering from Beijing Jiaotong University, China, in 2011. Now she works at Shijiazhuang Tiedao University as a Professor. Her current research interests include road structural modelling and simulation.

Yinfeng Han is studying for a Master’s degree in Shijiazhuang Tiedao University. His current research interests include vehicle dynamics and estimation of road adhesion coefficient.

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Lu, Y., Zhang, J., Li, H. et al. A novel adaptive model following controller to enhance steering and roll stability of heavy vehicle. J Mech Sci Technol 35, 5287–5297 (2021). https://doi.org/10.1007/s12206-021-1102-2

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  • DOI: https://doi.org/10.1007/s12206-021-1102-2

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