Rollover Mitigation Controller Development for Three-Wheeled Vehicle Using Active Front Steering

Azim Raja Amer; Malik Fahad Mumtaz; Syed Andwaheed Ul Haq

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Rollover Mitigation Controller Development for Three-Wheeled Vehicle Using Active Front Steering

机译：基于主动转向的三轮车防侧倾控制器的开发

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Three-wheeled vehicles are agile, less complex, but relatively more prone to rollover. The current study focuses on the rollover mitigation control design using active front steering for such vehicles. A lateral load transfer ratio (LLTR) adapted for a three-wheeled platform is presented. Sliding mode control design strategy has been devised which results in pseudo-direct control for roll dynamics of the vehicle. The lag in vehicle roll angle response has been managed using adaptive sliding surface. This concept can be extended for other vehicle configurations. The proposed control scheme is investigated for efficacy using a full vehicle simulation model of CarSim software and National Highway Traffic Safety Administration's proposed Fishhook maneuver. The controller is able to limit the rollover propensity even with vehicle parameter uncertainties.

机译：三轮车辆敏捷，复杂程度较低，但相对更容易发生侧翻。当前的研究集中在针对此类车辆使用主动前转向的防侧翻控制设计。提出了适用于三轮平台的侧向载荷传递比（LLTR）。已经设计了滑模控制设计策略，该策略导致对车辆侧倾动力学的伪直接控制。车辆侧倾角响应的滞后已使用自适应滑动表面进行了管理。该概念可以扩展到其他车辆配置。使用CarSim软件的完整车辆仿真模型和美国国家公路交通安全管理局（National Highway Traffic Safety）提出的Fishhook机动技术，对提出的控制方案进行了有效性研究。即使在车辆参数不确定的情况下，控制器也能够限制侧翻倾向。

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《Mathematical Problems in Engineering》 |2015年第2期|918429.1-918429.9|共9页
作者
Azim Raja Amer; Malik Fahad Mumtaz; Syed Andwaheed Ul Haq;
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Natl Univ Sci & Technol, Coll Elect & Mech Engn, Rawalpindi 46000, Pakistan.;

Natl Univ Sci & Technol, Coll Elect & Mech Engn, Rawalpindi 46000, Pakistan.;

Natl Univ Sci & Technol, Coll Elect & Mech Engn, Rawalpindi 46000, Pakistan.;

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1. Rollover Mitigation Controller Development for Three-Wheeled Vehicle Using Active Front Steering [J] . Raja AmerAzim, Fahad MumtazMalik, Waheed ul HaqSyed Mathematical Problems in Engineering: Theory, Methods and Applications . 2015,第5期

机译：基于主动转向的三轮车防侧倾控制器的开发
2. A methodology for the design of robust rollover prevention controllers for automotive vehicles with active steering [J] . Solmaz S, Corless M, Shorten R International Journal of Control . 2007,第11期

机译：具有主动转向功能的汽车鲁棒性防侧倾控制器的设计方法
3. Robust vehicle yaw stability control by active front steering with active disturbance rejection controller [J] . Wu Yan, Wang Lifang, Zhang Junzhi, Journal of Systems and Control Engineering . 2019,第9期

机译：具有主动扰动抑制控制器的主动前转向稳健车辆偏航稳定性控制
4. A methodology for the design of robust rollover prevention controllers for automotive vehicles: Part 2-Active steering [C] . Solmaz, Selim, Corless, . 2007

机译：汽车鲁棒性防侧倾控制器的设计方法：第2部分：主动转向
5. Active independent front steering for yaw-rate control and tire work-load equalization in road vehicles [D] . Rawat, Vaibhav 2007

机译：主动式独立前转向系统，可实现公路车辆的横摆率控制和轮胎工作负载均衡
6. Multi-Objective Sliding Mode Control on Vehicle Cornering Stability with Variable Gear Ratio Actuator-Based Active Front Steering Systems [O] . Xinbo Ma, Pak Kin Wong, Jing Zhao, 2017

机译：基于可变传动比执行器的主动前转向系统对车辆转弯稳定性的多目标滑模控制
7. A methodology for the design of robust rollover prevention controllers for automotive vehicles: Part 2-Active steering [O] . Selim Solmaz, Martin Corless, Robert Shorten 2009

机译：一种用于汽车的坚固防侧翻控制器设计方法：第2部分 - 主动转向

Rollover Mitigation Controller Development for Three-Wheeled Vehicle Using Active Front Steering

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