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Use of Fuzzy Logic in Wheel Slip Assignment - Part I: Yaw Rate Control

Delphi Automotive Systems-Kenneth R. Buckholtz
Published 2002-03-04 by SAE International in United States
This paper describes the use of logic-based control for the purpose of determining and assigning desired wheel slips for each corner of a vehicle. The control objective is to track overall desired vehicle dynamics, such as tracking a desired vehicle yaw rate, Ωd, by assigning an appropriate wheel slip, λ, to each corner of the vehicle. Each of these wheel slips is used as reference input wheel slip, λr, for a wheel dynamics control system. This setup can be thought of behaving like a hierarchical control system (higher-level control system interacting with a lower level control system). This paper focuses on developing the higher-level logic based controller. The logic controller uses fuzzy logic control techniques. In conventional fuzzy logic control, a two-dimensional rule table is created based on the error between the desired and actual signals, and on the change in the error. The fuzzy logic controller presented in this paper is based on the work performed by Choi, et.al. [5]. This method combines the two controller inputs into a single input. The rule table…
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Reference Input Wheel Slip Tracking Using Sliding Mode Control

Delphi Automotive Systems-Kenneth R. Buckholtz
Published 2002-03-04 by SAE International in United States
The design of a sliding mode controller for the purpose of controlling wheel slip, λ, is described in this paper. The control objective is to track a reference input wheel slip, λr. Through the use of tire force measurements or observers, it is shown that the sliding mode controller can track any reference input wheel slip, λr. The design strategy investigated is based on a sliding surface that only contains the error between the reference input wheel slip, λr, and the actual wheel slip, λ. The design strategy uses continuous switching, in the form of a saturation function, to reduce chattering in the system response. Simulations are performed to demonstrate the effectiveness of the proposed sliding mode controller.
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Use of Fuzzy Logic in Wheel Slip Assignment - Part II: Yaw Rate Control with Sideslip Angle Limitation

Delphi Automotive Systems-Kenneth R. Buckholtz
Published 2002-03-04 by SAE International in United States
This paper is an extension to the work presented in part I [1]. The control objective is still the same - use a logic based control design technique to assign a wheel slip, λ, to each corner of a vehicle, to track overall desired vehicle dynamics. As in part I, a fuzzy logic based controller is the primary control, with additional logic to select the inside/outside classifiers for the wheels. In part I, only the reduction of yaw rate error, e, was considered. It was shown that, although the overall system had satisfactory performance, there was slight deteriorization in the tracking performance when trying to compensate through a significant vehicle sideslip angle, β. In this paper, additional logic is introduced into the control to limit the vehicle sideslip angle, β; thus, allowing for a more robust desired yaw rate, Ωd, tracking control performance. The emergency lane change maneuver is simulated to show the effectiveness of the redesigned control. An analysis is performed between the control that includes limiting the vehicle sideslip angle, β, and the…
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