02-09-2017, 11:39 AM
It addresses the adaptive control of the vehicle's skid, for stability and tracking of a vehicle during the glide of its wheels without braking. Two adaptive control algorithms are developed: one for the case where information on the condition of the road is not available and one for the case where only certain information is known about the type of road surface in which move the vehicle. The vehicle control system with an adaptive control law maintains the speed of the vehicle as desired by applying more power to the drive wheels where the additional driving force on the non-skid wheel will compensate for the loss of the driving force on the drive wheel , and also organizes the direction of vehicle movement by changing the steering angle of the two front steering wheels. Stability analysis shows that vehicle position and speed errors are limited. With information available on the road surface, the adaptive control system ensures that the vehicle position error and speed error converge to zero asymptotically even if the road surface parameters are unknown.
Initially, active control of the vehicle's dynamic systems is used to reduce fuel consumption and emissions. In today's automotive technology, active control is also used to increase vehicle safety and reliability and handling. Special control systems are designed for different parts of the vehicle dynamics. Anti-lock brake systems (ABS) are designed to prevent wheel slippage during braking, while traction control systems (TCS) serve the same purpose, preventing wheel slippage during acceleration. When the vehicle is on a slippery surface, due to the fall in the coefficient of adhesion of the road, the drive wheels can slide. The traction control system reduces the engine torque or applies the brakes to the sliding wheels and brings the sliding wheels into the desirable skating range. In order to increase the stability of the vehicle during cornering, active yaw control systems are designed, either by braking or by torque transfer between wheels, the vehicle speed is reduced to critical speed to rotate the corner control and achieved yaw. Vehicle status estimation and road condition estimation methods are used to improve the performance of ABS, TCS and active yaw control systems. In controller algorithms are designed to compensate for the error in lateral and yaw movement where the sliding mode control and the minimization of the cost function are used.
Initially, active control of the vehicle's dynamic systems is used to reduce fuel consumption and emissions. In today's automotive technology, active control is also used to increase vehicle safety and reliability and handling. Special control systems are designed for different parts of the vehicle dynamics. Anti-lock brake systems (ABS) are designed to prevent wheel slippage during braking, while traction control systems (TCS) serve the same purpose, preventing wheel slippage during acceleration. When the vehicle is on a slippery surface, due to the fall in the coefficient of adhesion of the road, the drive wheels can slide. The traction control system reduces the engine torque or applies the brakes to the sliding wheels and brings the sliding wheels into the desirable skating range. In order to increase the stability of the vehicle during cornering, active yaw control systems are designed, either by braking or by torque transfer between wheels, the vehicle speed is reduced to critical speed to rotate the corner control and achieved yaw. Vehicle status estimation and road condition estimation methods are used to improve the performance of ABS, TCS and active yaw control systems. In controller algorithms are designed to compensate for the error in lateral and yaw movement where the sliding mode control and the minimization of the cost function are used.