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Coordinated control of ESC and AFS with adaptive algorithms

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Abstract

This paper presents a coordinated control of electronic stability control (ESC) and active front steering (AFS) with adaptive algorithms for yaw moment distribution in integrated chassis control (ICC). In order to distribute a control yaw moment into control tire forcres of ESC and AFS, and to coordinate the relative usage of ESC to AFS, a LMS/Newton algorithm (LMSN) is adopted. To make the control tire forces zero in applying LMS and LMSN, the zero-attracting mechanism is adopted. Simulations on vehicle simulation software, CarSim®, show that the proposed algorithm is effective for yaw moment distribution in integrated chassis control.

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Abbreviations

C f, C r :

cornering stiffness of front/rear tires (N/rad)

e k :

adaptation error at time instant k

F x, F y, F z :

longitudinal/lateral/vertical tire forces (N)

F yf, F yr :

lateral tire force of front/rear wheels (N)

G :

effectiveness matrix

I :

identity matrix

I z :

yaw moment of inertial (kg×m2)

J 1, J 2 :

objective functions of adaptive algorithms

K γ :

steady-state yaw rate gain (1/s)

K :

gain in sliding mode control

K B :

pressure-force constant (N×m/MPa)

l f, l r :

distance from C.G. to front/rear axles (m)

m :

vehicle total mass (kg)

P B :

brake pressure (MPa)

H :

weighting matrix in LLMS

Q, R :

auto-correlation and cross-correlation matrices in LMSN and ZA-LMSN

r w :

radius of a wheel (m)

s :

sliding surface

2t f, 2t r :

front/rear track widths (m)

V :

vehicle velocity (m/s)

v x, v y :

longitudinal/lateral velocities of a vehicle (m/s)

w :

vector of the control tire forces

β :

side-slip angle (rad)

δ f :

steering angle of front wheels (rad)

Δδ f :

corrective steering angle by AFS (rad)

ΔF x :

longitudinal tire force by ESC (N)

ΔF yf :

lateral tire force by AFS (N)

ΔM B :

control yaw moment

γ, γ d :

real and reference yaw rates (rad/s)

η :

tuning parameter on side-slip angle

ε :

convergence rate of LMS and its variants

ρ :

tuning parameter on zero-attracting term

μ :

tire-road friction coefficient

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Authors and Affiliations

  1. Department of Mechanical and Automotive Engineering, Seoul National University of Science and Technology, Seoul, 01811, Korea

    S. Yim

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  1. S. Yim
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Yim, S. Coordinated control of ESC and AFS with adaptive algorithms. Int.J Automot. Technol. 18, 271–277 (2017). https://doi.org/10.1007/s12239-017-0027-3

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  • DOI: https://doi.org/10.1007/s12239-017-0027-3

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