Design and simulation of an integrated active yaw control system for road vehicles

In this paper, design methodology and simulation of an active yaw control system for road vehicles are presented. The main objectives of the yaw control system are to estimate the desired yaw behaviour of the vehicle according to the demand of the driver by means of a two degree-of-freedom vehicle model and track this desired yaw rate while considering vehicle steerability parameters. Based on vehicle yaw rate error and vehicle sideslip angle, the controller system applies brake torques to individual wheels in order to create a yaw moment, thus maintaining the desired vehicle behaviour. The control system is based on fuzzy logic control and consists of a two-level controlling scheme: the high-level controller deals with the yaw rate control and vehicle sideslip angle limitation, while the low-level controller calculates and applies the appropriate brake torques to the appropriate wheels requested by the high-level controller for yaw moment generation. An eight degree-of-freedom vehicle model is used to represent the real vehicle in the simulations. Results are compared with those of similar studies in the literature and the observed differences are discussed.

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