H∞ control of anti-rollover strategy based on predictive vertical tire force

The mainstream rollover evaluation index, lateral load transfer rate (LTR), is commonly used in the rollover control field. However, it is not instant enough to reflect the rollover tendency since it can only reflect the load transfer rate of one side wheels while single rear wheel leaves the ground first during rollover happens. In order to monitor the rollover tendency more instantly and improve the reliability of anti-rollover control system, a new evaluation index called predictive vertical tire force (PVTF) is proposed, which is based on the single vertical tire force and merges both iterative prediction and derivative prediction methods. Meanwhile, an optimization is taken to solve the contradiction between prediction time and deviation. Secondly, using the PVTF as the measurement output, an anti-rollover control system based on active steering is established in this paper. In order to achieve the desired tracking effect and anti-jamming capability, a two-way H∞ controller is adopted in the anti-rollover control system. Lastly, the simulation results of J-turn condition and NHTSA (national highway traffic safety administration) condition are conducted and the results indicate that the anti-rollover control system has strong stability and robustness. Meanwhile, benefit from the pre-warning function of PVTF, the controller is triggered earlier and the vertical tire forces of four wheels are controlled to be positive all the time, which is beneficial for handling stability.

[1]  Sehoon Oh,et al.  Robust yaw stability control for electric vehicles based on active front steering control through a steer-by-wire system , 2012 .

[2]  Jian Zhao,et al.  Integrated chassis control for vehicle rollover prevention with neural network time-to-rollover warning metrics , 2016 .

[3]  Yuping He,et al.  A driver-adaptive stability control strategy for sport utility vehicles , 2017 .

[4]  Wei He,et al.  Vibration Control of a Flexible Robotic Manipulator in the Presence of Input Deadzone , 2017, IEEE Transactions on Industrial Informatics.

[5]  Ian Postlethwaite,et al.  Multivariable Feedback Control: Analysis and Design , 1996 .

[6]  Behrooz Mashadi,et al.  Vehicle lift-off modelling and a new rollover detection criterion , 2017 .

[7]  WanZhong Zhao,et al.  Robust control of hand wheel torque for active front steering system , 2015 .

[8]  Li Shaohua,et al.  Investigation on cornering brake stability of a heavy-duty vehicle based on a nonlinear three-directional coupled model , 2016 .

[9]  Sittikorn Lapapong,et al.  Zero-moment point determination of worst-case manoeuvres leading to vehicle wheel lift , 2012 .

[10]  Wanzhong Zhao,et al.  Two-way H∞ control method with a fault-tolerant module for steer-by-wire system , 2018 .

[11]  Kyongsu Yi,et al.  Design of a rollover index-based vehicle stability control scheme , 2007 .

[12]  Changyin Sun,et al.  Adaptive Neural Impedance Control of a Robotic Manipulator With Input Saturation , 2016, IEEE Transactions on Systems, Man, and Cybernetics: Systems.

[13]  Rajesh Rajamani,et al.  New paradigms for the integration of yaw stability and rollover prevention functions in vehicle stability control , 2013, IEEE Trans. Intell. Transp. Syst..

[14]  Amir Khajepour,et al.  Stability and optimised H∞ control of tripped and untripped vehicle rollover , 2016 .

[15]  Masahiro Oya,et al.  Adaptive rollover prevention controller for driver–vehicle systems , 2013, Artificial Life and Robotics.

[16]  Rajesh Rajamani,et al.  A New Predictive Lateral Load Transfer Ratio for Rollover Prevention Systems , 2013, IEEE Transactions on Vehicular Technology.

[17]  Yi Lin,et al.  Control strategy of a novel electric power steering system integrated with active front steering function , 2011 .

[18]  Li Yijun,et al.  Robust control of hand wheel torque for active front steering system , 2015 .

[19]  Tao Chou,et al.  An improvement in rollover detection of articulated vehicles using the grey system theory , 2014 .

[20]  Shuzhi Sam Ge,et al.  Cooperative control of a nonuniform gantry crane with constrained tension , 2016, Autom..

[21]  Youngjin Park,et al.  Design of active suspension and electronic stability program for rollover prevention , 2010 .

[22]  Qiao Sun,et al.  Geometric-based tyre vertical force estimation and stiffness parameterisation for automotive and unmanned vehicle applications , 2017 .

[23]  Daniel E. Williams.  On the equivalent wheelbase of a three-axle vehicle , 2011 .

[24]  Bin Li,et al.  Tire Model Application and Parameter Identification-A Literature Review , 2014 .

[25]  Wei He,et al.  Adaptive Fuzzy Neural Network Control for a Constrained Robot Using Impedance Learning , 2018, IEEE Transactions on Neural Networks and Learning Systems.

[26]  Ilker Ustoglu,et al.  Internal model controller design via H∞ dynamic output feedback , 2017 .

[27]  Wei He,et al.  Adaptive Neural Network Control of an Uncertain Robot With Full-State Constraints , 2016, IEEE Transactions on Cybernetics.

[28]  Jangyeol Yoon,et al.  ROLLOVER INDEX-BASED ROLLOVER MITIGATION CONTROL SYSTEM , 2006 .

[29]  Huei Peng,et al.  A real-time rollover threat index for sports utility vehicles , 1999, Proceedings of the 1999 American Control Conference (Cat. No. 99CH36251).

[30]  Daniel E. Williams.  Generalised multi-axle vehicle handling , 2012 .

[31]  Rajesh Rajamani,et al.  New rollover index for detection of tripped and un-tripped rollovers , 2011, IEEE Conference on Decision and Control and European Control Conference.

[32]  T. Michael Seigler,et al.  The Roles of Feedback and Feedforward as Humans Learn to Control Unknown Dynamic Systems , 2018, IEEE Transactions on Cybernetics.

[33]  Xiang Li,et al.  Spectral Analysis of Epidemic Thresholds of Temporal Networks , 2020, IEEE Transactions on Cybernetics.

[34]  Chang-Soo Han,et al.  Lateral acceleration potential field function control for rollover safety of multi-wheel military vehicle with in-wheel-motors , 2017 .