Integrated Vehicle Dynamics and Control

Wuwei Chen is a Professor at the School of Mechanical and Automotive Engineering, Hefei University of Technology, China. Dr. Chen has been working in the area of vehicle system dynamics, particularly in integrated control of vehicle dynamic systems, for more than 20 years. He has been recognized as a leading researcher in developing integrated vehicle dynamic control systems through both theoretical analysis and experimental investigation.Dr. Chen was a guest editor of International Journal of Vehicle Design for a special issue on "Vehicle Control Systems". He is also a member of the editorial boards of Journal of Vibration Engineering (in Chinese) and Transactions of the Chinese Society for Agricultural Machinery. Dr. Chen has authored and co-authored over 150 journal and conference papers, and has made numerous presentations at scientific and engineering conferences.Hansong Xiao is now working with Hanergy Product Development Group, China. He received his Ph.D.in Mechanical Engineering at the University of Toronto, Canada. His current research interests include Engineering Optimization, Dynamic Analysis, and Automotive Electronic Control.Qidong Wang, Ph.D, Professor at School of Mechanical and Automotive Engineering, Hefei University of Technology. Wang has been doing research in the field of vehicle dynamics and control for over 20 years and has published over 80 papers.Linfeng Zhao, Ph.D, Associate Professor at School of Mechanical and Automotive Engineering, Hefei University of Technology. Zhao's interest is vehicle dynamics and control technologies, he has published over 10 journal papers.Maofei Zhu, Hefei Institutes of Physical Science, Chinese Academy of Sciences.

• Preface xi1 Basic Knowledge of Vehicle System Dynamics 11.1 Traditional Methods of Formulating Vehicle Dynamics Equations 11.1.1 Newtonian Mechanics 21.1.2 Analytical Mechanics 31.2 Dynamics of Rigid Multibody Systems 31.2.1 Birth and Development 31.2.2 Theories and Methods of Multi‐Rigid Body System Dynamics 51.2.3 An Example of the Application of Multi‐Rigid Body Dynamics Method in Vehicle System Modeling 81.3 Flexible Multibody Dynamics 12References 132 Tyre Dynamics 152.1 Tyre Models 152.1.1 Terminology and Concepts 152.1.2 Tyre Model 172.2 Tyre Longitudinal Mechanical Properties 192.2.1 Tyre Rolling Resistance 202.2.2 Road Resistance 212.2.3 Tyre Slip Resistance 232.2.4 Overall Rolling Resistance of the Tyres 232.2.5 Rolling Resistance Coefficient 242.3 Vertical Mechanical Properties of Tyres 262.4 Lateral Mechanical Properties of Tyres 292.5 Mechanical Properties of Tyres in Combined Conditions 30References 323 Longitudinal Vehicle Dynamics and Control 333.1 Longitudinal Vehicle Dynamics Equations 333.1.1 Longitudinal Force Analysis 333.1.2 Longitudinal Vehicle Dynamics Equation 343.2 Driving Resistance 353.2.1 Aerodynamic Drag 363.2.2 Ramp Resistance 363.2.3 Inertial Resistance 373.3 Anti‐lock Braking System 383.3.1 Introduction 383.3.2 Basic Structure and Working Principle 383.3.3 Design of an Anti‐lock Braking System 403.4 Traction Control System 483.4.1 Introduction 483.4.2 Control Techniques of TCS 493.4.3 TCS Control Strategy 513.4.4 Traction Control System Modeling and Simulation 533.5 Vehicle Stability Control 543.5.1 Basic Principle of VSC 553.5.2 Structure of a VSC System 563.5.3 Control Methods to Improve Vehicle Stability 593.5.4 Selection of the Control Variables 603.5.5 Control System Structure 643.5.6 The Dynamics Models 643.5.7 Setting of the Target Values for the Control Variables 673.5.8 Calculation of the Nominal Yaw Moment and Control 68Appendix 75References 754 Vertical Vehicle Dynamics and Control 774.1 Vertical Dynamics Models 774.1.1 Introduction 774.1.2 Half‐vehicle model 784.2 Input Models of the Road’s Surface 814.2.1 Frequency‐domain Models 814.2.2 Time Domain Models 834.3 Design of a Semi‐active Suspension System 844.3.1 Dynamic Model of a Semi‐active Suspension System 854.3.2 Integrated Optimization Design of a Semi‐active Suspension System 874.3.3 The Realization of the Integrated Optimization Method 884.3.4 Implementation of the Genetic Algorithm 904.3.5 LQG Controller Design 914.3.6 Simulations and Result Analysis 924.4 Time‐lag Problem and its Control of a Semi‐active Suspension 954.4.1 Causes and Impacts of Time‐lag 964.4.2 Time‐lag Variable Structure Control of an MR (Magneto‐Rheological) Semi‐active Suspension 984.4.3 Simulation Results and Analysis 1034.4.4 Experiment Validation 1084.5 Design of an Active Suspension System 1104.5.1 The Dynamic Model of an Active Suspension System 1114.5.2 Design of the Control Scheme 1124.5.3 Multi‐objective Mixed H2/H∞ Control 1144.5.4 Simulation Study 1164.6 Order‐reduction Study of an Active Suspension Controller 1194.6.1 Full Vehicle Model with 7 Degrees of Freedom 1224.6.2 Controller Design 1244.6.3 Controller Order-reduction 1254.6.4 Simulation Analysis 129References 1335 Lateral Vehicle Dynamics and Control 1355.1 General Equations of Lateral Vehicle Dynamics 1355.2 Handling and Stability Analysis 1375.2.1 Steady State Response (Steady Steering) 1375.2.2 Transient Response 1405.2.3 The Frequency Response Characteristics of Yaw Rate 1445.3 Handling Stability Evaluations 1445.3.1 Subjective Evaluation Contents 1445.3.2 Experimental Evaluation Contents 1445.4 Four‐wheel Steering System and Control 1455.4.1 Control Objectives of the Four‐wheel Steering Vehicle 1465.4.2 Design of a Four‐wheel Steering Control System 1465.4.3 Multi‐body Dynamics Modeling of a Four‐wheel Steering Vehicle 1505.4.4 Simulation Results and Analysis 1525.5 Electric Power Steering System and Control Strategy 1525.5.1 EPS Model 1545.5.2 Steering Torque Model of the Steering Pinion 1555.5.3 The Estimation Algorithm of the Road Adhesion Coefficient 1595.5.4 Design of the Control Strategy 1605.5.5 Simulation and Analysis 1635.5.6 Experimental Study 1655.6 Automatic Lane Keeping System 1675.6.1 Control System Design 1675.6.2 Desired Yaw Rate Generation 1685.6.3 Desired Yaw Rate Tracking Control 1715.6.4 Simulation and Analysis 1735.6.5 Experimental Verification 175References 1806 System Coupling Mechanism and Vehicle Dynamic Model 1836.1 Overview of Vehicle Dynamic Model 1836.2 Analysis of the Chassis Coupling Mechanisms 1846.2.1 Coupling of Tyre Forces 1846.2.2 Coupling of the Dynamic Load Distribution 1856.2.3 Coupling of Movement Relationship 1856.2.4 Coupling of Structure Parameters and Control Parameters 1866.3 Dynamic Model of the Nonlinear Coupling for the Integrated Controls of a Vehicle 1866.4 Simulation Analysis 1916.4.1 Simulation 1916.4.2 Results Analysis 192References 1997 Integrated Vehicle Dynamics Control: Centralized Control Architecture 2017.1 Principles of Integrated Vehicle Dynamics Control 2017.2 Integrated Control of Vehicle Stability Control Systems (VSC) 2047.2.1 Sideslip Angle Control 2047.2.2 Estimation of the Road Adhesion Coefficient 2187.3 Integrated Control of Active Suspension System (ASS) and Vehicle Stability Control System (VSC) using Decoupling Control Method 2267.3.1 Vehicle Dynamic Model 2277.3.2 2‐DOF Reference Model 2287.3.3 Lateral Force Model 2297.3.4 Integrated System Control Model 2297.3.5 Design of the Decoupling Control System 2307.3.6 Calculation of the Relative Degree 2307.3.7 Design of the Input/Output Decoupling Controller 2327.3.8 Design of the Disturbance Decoupling Controller 2337.3.9 Design of the Closed Loop Controller 2337.3.10 Design of the ASS Controller 2337.3.11 Design of the VSC Controller 2347.3.12 Simulation Investigation 2367.3.13 Experimental Study 2407.4 Integrated Control of an Active Suspension System (ASS) and Electric Power Steering System (EPS) using H Control Method 2407.4.1 Vehicle Dynamic Model 2437.4.2 EPS Model 2437.4.3 Design of Integrated Control System 2457.4.4 Simulation Investigation 2467.5 Integrated Control of Active Suspension System (ASS) and Electric Power Steering System (EPS) using the Predictive Control Method 2497.5.1 Designing a Predictive Control System 2497.5.2 Boundary Conditions 2507.5.3 Simulation Investigation 2517.6 Integrated Control of the Active Suspension System (ASS) and Electric Power Steering System (EPS) using a Self‐adaptive Control Method 2537.6.1 Parameter Estimation of a Multivariable System 2537.6.2 Design of the Multivariable Generalized Least Square Controller 2547.6.3 Design of the Multivariable Self‐adaptive Integrated Controller 2557.6.4 Simulation Investigation 2557.7 Integrated Control of an Active Suspension System (ASS) and Electric Power Steering System (EPS) using a Centralized Control Method 2567.7.1 Centralized Controller Design 2567.7.2 Simulation Investigation 2597.8 Integrated Control of the Electric Power Steering System (EPS) and Vehicle Stability Control (VSC) System 2647.8.1 Interactions Between EPS and VSC 2647.8.2 Control System Design 2647.8.3 Dynamic Distribution of Tyre Forces 2657.8.4 Design of a Self‐aligning Torque Controller 2677.8.5 Simulation Investigation 2707.9 Centralized Control of Integrated Chassis Control Systems using the Artificial Neural Networks (ANN) Inverse System Method 2717.9.1 Vehicle Dynamic Model 2727.9.2 Design of the Centralized Control System 2737.9.3 Simulation Investigation 278References 2818 Integrated Vehicle Dynamics Control: Multilayer Coordinating Control Architecture 2838.1 Multilayer Coordinating Control of Active Suspension System (ASS) and Active Front Steering (AFS) 2838.1.1 AFS Model 2848.1.2 Controller Design 2858.1.3 Simulation Investigation 2898.2 Multilayer Coordinating Control of Active Suspension System (ASS) and Electric Power Steering System (EPS) 2918.2.1 System Modeling 2918.2.2 Controller Design 2958.2.3 Simulation Investigation 2988.3 Multilayer Coordinating Control of an Active Suspension System (ASS) and Anti‐lock Brake System (ABS) 2998.3.1 Coordinating Controller Design 3008.3.2 Simulation Investigation 3018.4 Multilayer Coordinating Control of the Electric Power Steering System (EPS) and Anti‐lock Brake System (ABS) 3038.4.1 Interactions between the EPS System and ABS 3048.4.2 Coordinating Controller Design 3058.4.3 Simulation Investigation 3068.5 Multi‐layer Coordinating Control of the Active Suspension System (ASS) and Vehicle Stability Control (VSC) System 3088.5.1 System Model 3088.5.2 Multilayer Coordinating Controller Design 3088.5.3 Simulation Investigation 3138.6 Multilayer Coordinating Control of an Active Four‐wheel Steering System (4WS) and Direct Yaw Moment Control System (DYC) 3158.6.1 Introduction 3158.6.2 Coordinating Control of DYC and 4WS 3168.6.3 Simulation Investigation 3208.7 Multilayer Coordinating Control of Integrated Chassis Control Systems 3218.7.1 Introduction 3218.7.2 Controller Design 3228.7.3 Simulation and Experiment Investigations 3278.8 Multilayer Coordinating Control of Integrated Chassis Control Systems using Game Theory and Function Distribution Methods 3308.8.1 Structure of the Chassis Control System 3318.8.2 Design of the Suspension Subsystem Controller 3318.8.3 Design of the Steering Subsystem Controller 3328.8.4 Design of the Braking Subsystem Controller 3338.8.5 Design of the Upper Layer Controller 3338.8.6 Simulation Investigation 335References 3379 Perspectives 3399.1 Models of Full Vehicle Dynamics 3399.2 Multi‐sensor Information Fusion 3409.3 Fault‐tolerant Control 3409.4 Active and Passive Safety Integrated Control Based on the Function Allocation Method 3419.5 Design of System Integration for a Vehicle 3449.6 Assumption about the Vehicle of the Future 345References 346Index 347