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http://dx.doi.org/10.22680/kasa2022.14.2.007

Yaw Moment Control Algorithm based on Estimated Vehicle Mass for Manual-Shift Commercial Vehicles  

Kim, Jayu (서울대학교 차량 동역학 및 제어 연구실)
Cha, Hyunsoo (서울대학교 차량 동역학 및 제어 연구실)
Park, Kwanwoo (서울대학교 차량 동역학 및 제어 연구실)
Yi, Kyongsu (서울대학교 차량 동역학 및 제어 연구실)
Publication Information
Journal of Auto-vehicle Safety Association / v.14, no.2, 2022 , pp. 7-13 More about this Journal
Abstract
This paper presents a yaw moment control based on estimated mass for manual-shift commercial vehicles. In yaw moment controller, parameter uncertantiy of vehicle mass is important because the desired yaw moment depends on vehicle parameter. However, in the case of commercial vehicle, the weight of the loaded vehicle is more than twice as much as compared to the unloaded vehicle. The proposed algorithm estimates the vehicle mass by using the longitudinal dynamic and gear shifting characteristics. The estimated mass is used to adaptively modify the vehicle parameters. In addition, this paper estimates the chamber pressure of a pneumatic brake and generates the target yaw moment through on/off valve control. MATLAB/Simulink and Trucksim were performed under sine with dwell test. The results demonstrate that the proposed algorithm improves the lateral and rollover stability.
Keywords
Yaw moment control; Pneumatic brake; Commercial vehicle; Vehicle mass estimator;
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