Coordinated and reconfigurable vehicle dynamics control
Abstract
This dissertation describes a coordinated and reconfigurable vehicle dynamics
control system. With the continuous development of vehicle actuation/sensing
technologies, coordinating all the available actuation resources to improve system
performance and expand system operational envelope has become an active research
topic that has received significant attention from both academia and industry. Given the
complex nature of tire forces that are relied upon for inducing generalized forces for
vehicle motion control, the main challenge is how to coordinate all the tire forces in a
unified and optimal manner to achieve the overall control objectives even under adverse
conditions.
In this dissertation, a hierarchically-coordinated and reconfigurable vehicle
dynamics control system is proposed. A higher-level robust nonlinear controller is
designed to produce the generalized forces/moment for controlling vehicle planar
motions. An innovative control allocation scheme is designed to distribute the
generalized forces/moment to slip and slip angle of each tire with the considerations of
vehicle dynamics and environmental variations. Individual tire slip and slip angles are
selected as the control variables to resolve the inherent tire force nonlinear constraints
which otherwise may make the system more complex and computationally expensive. A
real-time adaptable, computationally efficient accelerated fixed-point method with
improved convergence rate when actuation saturates is proposed to solve the amplitude
and rate constrained quadratic programming (QP) control allocation problem. To track
the desired allocated slip and slip angle of each tire and therefore the required tire
longitudinal and lateral forces to fulfill the control objectives, a combined tire slip and
slip angle tracking control system is developed to manipulate the driving/braking/steering
actuation of each wheel independent to vehicle body states. The overall system is
evaluated on a commercial full-vehicle model provided by CarSim®
under various
adverse driving conditions including scenarios where vehicle actuator failures occur.
Compared with those of existing vehicle control systems, significantly expanded system
operational envelop and greatly reduced driver efforts were observed.
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