Vehicle Dynamics and Control: Advanced Methodologies

✍ Scribed by Shahram Azadi, Reza Kazemi, Hamidreza Rezaei Nedamani

• Publisher: Elsevier
• Year: 2021
• Tongue: English
• Leaves: 494
• Category: Library

✦ Synopsis

Vehicle Dynamics and Control: Advanced Methodologies features the latest information on advanced dynamics and vehicle motion control, including a comprehensive overview of passenger cars and articulated vehicles, fundamentals, and emerging developments. This book provides a unified, balanced treatment of advanced approaches to vehicle dynamics and control. It proceeds to cover advanced vehicle control strategies, such as identification and estimation, adaptive nonlinear control, new robust control techniques, and soft computing. Other topics, such as the integrated control of passenger cars and articulated heavy vehicles, are also discussed with a significant amount of material on engineering methodology, simulation, modeling, and mathematical verification of the systems. This book discusses and solves new challenges in vehicle dynamics and control problems and helps graduate students in the field of automotive engineering as well as researchers and engineers seeking theoretical/practical design procedures in automotive control systems.

✦ Table of Contents

Front Matter
Copyright
Dedication
Acknowledgments
Foreword
Preface
Integrated vehicle dynamics and suspension control
Introduction
Control system design
Design of the ESP
Lateral force estimator
Longitudinal velocity estimation
Determination of the yaw moment
Braking strategy in the ESP system
Design of the ABS
Active suspension system design
Integration strategy
Simulation of the proposed strategies
Handling control of the vehicle
Suspension system control
Integrated control of suspension system and vehicle dynamics
Conclusion
References
Vehicle dynamics control using a flexible body model
Introduction
Vehicle dynamics control
Full vehicle dynamics model
Full vehicle dynamics model in ADAMS software
Full SEDAN vehicle model
Full SEDAN vehicle model with rigid a body
The full model of the SEDAN vehicle with a flexible body
Fully assembled model of the SEDAN vehicle
Vehicle dynamics control using the ADAMS/CONTROL module
Preparation of the mechanical model
Creating the input state variables
Creating the input functions
Creating the output state variables and functions
Defining the model inputs and outputs
Creating a link between the dynamics model and the controller
Loading the ADAMS/CONTROL module
Plant export process
Importing the model to the control software
Optimal control of vehicle dynamics
Designing the ABS
Designing the vehicle dynamics control system using brake torque
Determination of the desired vehicle path
Distribution of braking forces
Dynamics analysis of vehicle handling in the presence of an optimal controller
Dynamics handling analyses of the SEDAN vehicle
Single lane change analysis on a dry road
Step steer analysis on a dry road
Conclusion
References
Integrated vehicle dynamics control using active braking and semiactive suspension systems
Introduction
The dynamic model of the system
The full model of the vehicle with 14 DOFs
Tire modeling
Random road input modeling
MR damper modeling
Estimator design using unscented Kalman filter
Design of the active subsystems of the chassis
Design of the active braking system of the vehicle
Active braking system strategy
Upper layer control
Lower layer control
Design of the semiactive suspension system of the vehicle
Design of the SAS1 system
Design of the SAS2 system
Integrated vehicle dynamics control
Integrated vehicle dynamics control structure
Integrated vehicle dynamics control simulation
Ride comfort analysis
Handling and stability analyses
Conclusion
References
Trajectory planning and integrated control for high-speed autonomous lane change
Introduction
Summary of the integrated longitudinal-lateral guidance system
Dynamic model
Equations of motion for the vehicle
Equation of motion for the wheel
Tire dynamics
Applied rules and important assumptions
Trajectory planning
Collision avoidance
Feasibility analysis of trajectories
Integrated longitudinal-lateral control
Longitudinal control
Lateral control
Simulation of integrated longitudinal and lateral vehicle guidance algorithm
Simulation results of trajectory planning
Simulation results of integrated control
Conclusions
References
String stability and control of a platoon of vehicles
Introduction
Definitions in the vehicle platoon
The intervehicle spacing control policy in a vehicle platoon
The constant spacing policy
The variable spacing policy
Constant time headway policy
Variable time headway policy
String stability
Definition 1 (string stability) [16]
Centralized and decentralized control
Stability analysis
The longitudinal vehicle dynamics model
The longitudinal controller of the vehicle
Stability
The stability based on constant spacing segmentation policy
The unidirectional structure
The bidirectional structure
The stability by the approximation of partial differential equations
The stability by using CTCR
The stability based on constant headways segmentation policy
The unidirectional structure
The bidirectional structure
String stability analysis
The string stability based on constant spacing policy
Providing a new theorem in string stability of the unidirectional structure
Providing new theorems in string stability of the bidirectional structure
The string stability for the model of the approximation of partial differential equations
The string stability for CTCR
The string stability based on constant headways policy
Providing new theorems in string stability of the unidirectional structure
Providing a new theorem in string stability of the bidirectional structure
Validation based on simulation
Stability
The stability based on constant spacing policy
The unidirectional structure in stability analysis
The bidirectional structure in stability analysis
The stability by the use of approximation of partial differential equations
The stability using CTCR
The stability based on constant time headways policy
The unidirectional structure in stability analysis
The bidirectional structure in stability analysis
String stability
The string stability based on constant spacing policy
The unidirectional structure in string stability analysis
The bidirectional structure in string stability analysis
The string stability for the model of approximation of partial differential equations
The string stability for CTCR
The string stability based on the constant time headways policy
The unidirectional structure in string stability analysis
Bidirectional structure in the string stability analysis
Conclusion
References
Dynamic behavior and stability of an articulated vehicle carrying fluid
Introduction
Dynamics of articulated vehicles
Fluid dynamics
Quasistatic methods
Dynamics methods for fluid motion
Equivalent mechanical model
Dynamics modeling of vehicle and fluid inside the tanker
Fluid dynamics modeling
Calculating the fluid's center of gravity, forces, and moments
Type of mesh and number of cells
Coupling of the fluid motion model and vehicle dynamics
Model sensitivity to the number of cells
Numerical dynamics analysis of the articulated vehicle carrying fluid
Fixed input-steady steer
Effects of fill percentage and viscosity on the dynamics of fluid and vehicle
Fill percentage effects
Effects of viscosity
Effects of the tanker's geometrical shape on the roll response of an articulated vehicle
Effects of holder plates on the vehicle dynamics of and fluid motion inside the tanker
Lane change maneuver
Dynamics of vehicle and fluid at 50% fill percentage
Improving the design of baffle plates
Improved design A
Combinations of patterns to form the optimum shape of baffle plates
Combination of cases A and C
Combination of cases B and C
Conclusion
References
Adaptive robust controller in lateral dynamics of an articulated vehicle carrying liquid
Introduction
Performance criteria of an articulated vehicle
Handling quality
Lateral stability during braking
Steady-state off-tracking
Transient off-tracking
Rearward amplification
Static rollover threshold
Hazardous behavior modes of an articulated vehicle
Lateral instability of liquid-carrying vehicles
Dynamics of liquid-carrying heavy vehicles
Literature
Dynamic modeling of a liquid-carrying articulated vehicle
Assumptions and simplifications
First system: Articulated vehicle dynamic system
Second system: Wheel and tire system
Third system: Liquid dynamic system
16-DOF dynamic model of the articulated vehicle
System dynamic equations
Problem kinematics
Equations of motion of longitudinal and lateral dynamics of the tractor unit and the semitrailer unit
Tractor unit
Semitrailer unit
Wheel dynamics
Lateral slip angle of the tire
Tire dynamics
Dynamic modeling of a liquid-carrying articulated vehicle
Computing the acceleration of the liquid mass center
Dynamic equations of a liquid-carrying articulated vehicle
Validation of the dynamic model of the articulated vehicle
Double lane-change maneuver
Validation of the dynamic model of the liquid-carrying articulated vehicle
Selection of the controlled state variables
The angular velocity of the tractor unit
The lateral velocity of the tractor unit
Articulation angle
Control system design
Active roll control system design
Tractor unit
Semitrailer unit
Active steering control system design
Dynamic equations of the simplified model of a liquid-carrying articulated vehicle
Stability analysis
Active steering control system modification
Hybrid control system consisting of the active steering and active roll control systems
Performance evaluation of the hybrid control system
Fishhook maneuver
The adaptive sliding mode controller
Standard least-squares method
Active roll system parameter estimation
Tractor unit
Semitrailer unit
Active steering system parameter estimation
Performance evaluation of the adaptive robust control system
Fishhook maneuver
Active steering system parameter estimation
Active roll system parameter estimation (see Fig. 7.24)
Conclusion
References
Directional stability analysis and integrated control of articulated heavy vehicles
Introduction
Modeling of an articulated heavy vehicle
Introducing the applied coordinate systems in modeling
Calculating the velocity and acceleration of the tractor and semitrailer center of masses
Tractor unit
Semitrailer unit
Longitudinal and lateral dynamics motion equations of tractor and trailer units
Tractor unit
Semitrailer unit
Roll and yaw motion equations of tractor and trailer units
Tractor unit
Semitrailer unit
Articulated vehicle dynamics equations and constraint equations
Wheel rotational equations of motion
Tire normal forces
Simplified dynamics model
Control variables
Tractor yaw velocity and its desired value
Lateral velocity and its desired value
Articulation angle and its desired value
Active steering controller
Active steering controller using linear optimal control method
Active steering controller using the sliding mode control method
Comparison between simulation and performance
Brake compared with steering to set directional dynamics
Integrated control of braking and steering subsystems
Limiting wheel slip ratio
The performance of the integrated controller
Lane change maneuver
Slalom maneuver on the semislippery road
Evaluation of the controller robustness against error and noise over control variables
Conclusion
References
Automatic parking of articulated vehicles using a soft computing approach
Introduction
Modeling the kinematics of motion of an articulated vehicle
Extracting optimal steering angle by moving the trailer end along optimal path using inverse kinematics
Design of control system
Fuzzy control
Artificial neural networks
Adaptive neuro-fuzzy inference system (ANFIS)
Introduction of ANFIS network structure
Closed-loop control system for automatic parking of articulated vehicles
Computer simulation of articulated vehicle kinematics
Training the ANFIS based on expert driver's behavior
Closed-loop control system for automatic parking of articulated vehicle
Results of applying the ANFIS controller
Error calculation
Application of inverse kinematic equations in parking maneuvers for articulated vehicles
Verification of inverse kinematic equations using computer simulations
Training the articulated vehicle with desired data-fed ANFIS for the inverse kinematic method
Closed-loop control system with neuro-fuzzy controller in inverse kinematic method
Design and implementation of mechanical equipment for articulated vehicle experimental model
Conclusion
References
Trajectory planning of tractor semitrailers
Introduction
An introduction to tractor semitrailers
Steps in automatic vehicle navigation for collision avoidance
Path planning
Trajectory generation
Trajectory generation methods
Cubic polynomial trajectory
High-degree polynomials
Derivation of η4-splines optimal path for a tractor semitrailer
Smooth open-loop control of a tractor semitrailer
Trajectory generation for tractor semitrailers performing a lane change
Trajectory equation
Derivation of the kinematic characteristics of the tractor semitrailer
Determination of time constraints
Situation 1: The articulated vehicle and the front vehicle lie on the same line
Situation 2: A vehicle is present on the target lane in front of the articulated vehicle
Situation 3: A side vehicle is on the target lane
Situation 4: Lane change of the articulated vehicle to the target lane and safe distance from the rear vehicle
Situation 5: The most critical lane-change maneuver
Test method and minimum time acceptance criterion
Validation of the dynamic model
Decision-making strategy for the lane change maneuver of the tractor semitrailer
Conclusion
Appendix
References
Index
A
B
C
D
E
F
G
H
I
K
L
M
N
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P
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R
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