Saturation Balancing Control for Enhancing Dynamic Stability of Vehicles with Independent Wheel Drives
2011-01-0982
04/12/2011
- Event
- Content
- This paper proposes a new vehicle stability control method that quantifies and uses the level of lateral force saturation on each axle/wheel of a vehicle. The magnitude of the saturation, which can be interpreted as a slip-angle deficiency, is determined from on-line estimated nonlinear tire lateral forces and their linear projections that use estimates of the cornering stiffness. Once known, the saturation levels are employed in a saturation balancing control structure that biases the drive torque to either the front or rear axles/wheels with the goal of minimizing excessive under- or over-steer, thereby stabilizing the vehicle. The method is particularly suited for a vehicle with an independent wheel drive system. Furthermore, the method can be used in conjunction with a direct yaw-moment controller to obtain enhanced stability and responsiveness. The benefits of the proposed approach are demonstrated considering a nominally unstable, high c. g. heavy military vehicle in an extreme obstacle-avoidance type maneuver.
- Pages
- 9
- Citation
- Sill, J., and Ayalew, B., "Saturation Balancing Control for Enhancing Dynamic Stability of Vehicles with Independent Wheel Drives," SAE Technical Paper 2011-01-0982, 2011, https://doi.org/10.4271/2011-01-0982.