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INTEGRATED VEHICLE CHASSIS CONTROL WITH A MAIN/SERVO-LOOP STRUCTURE  

Li, D. (Institute of Automotive Engineering, Shanghai Jiao Tong University)
Shen, X. (Institute of Automotive Engineering, Shanghai Jiao Tong University)
Yu, F. (Institute of Automotive Engineering, Shanghai Jiao Tong University)
Publication Information
International Journal of Automotive Technology / v.7, no.7, 2006 , pp. 803-812 More about this Journal
Abstract
In order to reduce the negative effects of dynamic coupling among vehicle subsystems and improve the handling performance of vehicle under severe driving conditions, a vehicle chassis control integration approach based on a main-loop and servo-loop structure is proposed. In the main-loop, in order to achieve satisfactory longitudinal, lateral and yaw response, a sliding mode controller is used to calculate the desired longitudinal, lateral forces and yaw moment of the vehicle; and in the servo-loop, a nonlinear optimizing method is adopted to compute the optimal control inputs, i.e. wheel control torques and active steering angles, and thus distributes the forces and moment to four tire/road contact patches. Simulation results indicate that significant improvement in vehicle handling and stability can be expected from the proposed chassis control integration.
Keywords
Vehicle dynamics; Chassis control integration; Longitudinal slip ratio control; Four wheel steering; Direct yaw moment control; Tire nonlinearities;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
Times Cited By Web Of Science : 7  (Related Records In Web of Science)
Times Cited By SCOPUS : 9
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