Journal of Jilin University(Engineering and Technology Edition) ›› 2018, Vol. 48 ›› Issue (5): 1305-1312.doi: 10.13229/j.cnki.jdxbgxb20170765

    Next Articles

Prevention of instability control of commercial vehicle based on electric-hydraulic coupling steering system

ZHAO Wei-qiang1, GAO Ke1, WANG Wen-bin2   

  1. 1.State Key Laboratory of Automotive Simulation and Control,Jilin University,Changchun 130022, China;
    2.China FAW Group Co., LTD CAV Development Institute,Changchun 130011,China
  • Received:2017-07-19 Online:2018-09-20 Published:2018-12-07

RICH HTML

 1   

PDF (PC)

141

Abstract: The commercial vehicle is prone to instability when the vehicle is turning and driving at high speed. The control of the prevention of instability is carried out based on a kind of electric-hydraulic coupling steering system. A method of torque control is adopted that the power is actively adjusted to ensure the vehicle driving in the stable area to prevent instability. First, the structure of electric-hydraulic coupling steering system is briefly described. Second, the theoretical analysis of the vehicle instability is carried out, then the steering system can be used to control the stability of the vehicle and the 2-DOF reference model is built. Third, based on the flexible PID, the desired value of the yaw rate is tracked. The adaptive increasing algorithm is used to reduce the power of assist motor when the driving condition exceeds the stable area. Considering the change of road adhesion coefficient, the vehicle stable for prevention of instability can be obtained. The output value to the motor consists of the compensation value and the basic power value. The power characteristics of the motor are adjusted by the compensation value, so as to achieve prevention of instability control of commercial vehicles on different roads. In order to verify the control method, a hardware in the loop experiment based on electric-hydraulic coupling steering system was carried out. Results show that when the vehicle is in a critical state, the torque of the motor and the steering wheel angle both decrease, the yaw rate decreases. Therefore, the instability phenomenon can be effectively suppressed using the proposed method on different roads.

Key words: vehicle engineering, electric-hydraulic coupling steering system(EHCS), prevention of instability control, flexible-PID, adaptive increasing algorithm

CLC Number: 

  • U461.6
[1] Tollebeek J.Men of character: the emergence of the modern humanities[J]. Proceedings of the Institution of Mechanical Engineers Part K Journal of Multi-body Dynamics, 2011, 225(2):179-192.
[2] 宗长富,韩小健,赵伟强,等.基于动态LTR的客车防侧翻控制[J].中国公路学报,2016,29(9):136-142.
Zong Chang-fu, Han Xiao-jian, Zhao Wei-qiang, et al.Anti-rollover control of bus based on dynamic LTR[J].China Journal of Highway and Transport, 2016, 29(9):136-142.
[3] Gao Y, Shen Y H, Cao S R, et al.An active stability controller design for e-drive articulated steer vehicles[C]∥Control Conference (CCC), IEEE, 2016: 8993-8998.
[4] 杨炜,魏朗,刘晶郁.商用车横向稳定性优化控制联合仿真分析[J].机械工程学报,2017,53(2):115-123.
Yang Wei, Wei Lang, Liu Jing-yu.Co-simulation analysis of commercial vehicle lateral stability optimization control[J].Journal of Mechanical Engineering,2017,53(2):115-123.
[5] Kim W, Yi K, Lee J.An optimal traction, braking, and steering coordination strategy for stability and manoeuvrability of a six-wheel drive and six-wheel steer vehicle[J]. Journal of Automobile Engineering, 2012, 226(1): 3-22.
[6] Mammar S, Koenig D.Vehicle handling improvement by active steering[J].Vehicle System Dynamics,2002,38(3):212-238.
[7] Huang Kai-qi, Ling Lao.Auto anti-interference sliding mode control based on active front steering[C]∥The 27th Chinese Control and Decision Conference (2015 CCDC),IEEE, 2015:3533-3538.
[8] Liu S.Research on electronic control system of heavy vehicle multi-axle steering[C]∥3rd International Conference on Management, Education, Information and Control, Shenyang, China,2015:643-648.
[9] Wang J, Wang R, Jing H, et al.Coordinated active steering and four-wheel independently driving/braking control with control allocation[J]. Asian Journal of Control, 2016, 18(1): 98-111.
[10] Cairano S D, Tseng H E, Bernardini D, et al.Vehicle yaw stability control by coordinated active front steering and differential braking in the tire sideslip angles domain[J]. IEEE Transactions on Control Systems Technology, 2013, 21(4): 1236-1248.
[11] Abe M.Vehicle dynamics and control for improving handling and active safety:from four-wheel steering to direct yaw moment control[J].Journal of Multi-body Dynamics,1999,213(2):87-101.
[12] 谢伟东, 郑志谊, 付志军. 客车绊倒侧翻预警及DB+AFS集成控制研究[J]. 浙江工业大学学报, 2015, 43(3):246-250.
Xie Wei-dong, Zheng Zhi-yi, Fu Zhi-jun.Bus rollover warning and DB+AFS integrated control research[J]. Journal of Zhejiang University of Technology,2015,43(3):246-250.
[13] Ji Y, Guo H, Chen H.Integrated control of active front steering and direct yaw moment based on model predictive control[C]∥The 26th Chinese Control and Decision Conference(2014 CCDC),IEEE,2014:2044-2049.
[14] Bardawil C, Talj R, Francis C, et al.Integrated vehicle lateral stability control with different coordination strategies between active steering and differential braking[C]∥Intelligent Transportation Systems (ITSC), IEEE, 2014: 314-319.
[15] 赵林峰, 陈无畏, 秦炜华,等. 低附着路面条件的EPS控制策略[J]. 机械工程学报, 2011, 47(2):109-114.
Zhao Lin-feng, Chen Wu-wei, Qin Wei-hua, et al.Electric power steering on low friction coefficient road[J].Journal of Mechanical Engineering,2011,47(2):109-114.
[16] 赵林辉,刘志远,陈虹. 车速和路面附着系数的滚动时域估计[J]. 汽车工程,2009,31(6):520-525.
Zhao Lin-hui, Liu Zhi-yuan, Chen Hong.The estimation of vehicle speed and tire road adhesion coefficient using moving horizon strategy[J].Automotive Engineering,2009,31(6):520-525.
[1] CHANG Cheng,SONG Chuan-xue,ZHANG Ya-ge,SHAO Yu-long,ZHOU Fang. Minimizing inverter capacity of doubly-fed machine driving electric vehicles [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1629-1635.
[2] XI Li-he,ZHANG Xin,SUN Chuan-yang,WANG Ze-xing,JIANG Tao. Adaptive energy management strategy for extended range electric vehicle [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1636-1644.
[3] HE Ren,YANG Liu,HU Dong-hai. Design and analysis of refrigeration system supplied by solar auxiliary power of refrigerator car [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1645-1652.
[4] NA Jing-xin,MU Wen-long,FAN Yi-sa,TAN Wei,YANG Jia-zhou. Effect of hygrothermal aging on steel-aluminum adhesive joints for automotive applications [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1653-1660.
[5] LIU Yu-mei,LIU Li,CAO Xiao-ning,XIONG Ming-ye,ZHUANG Jiao-jiao. Construction on collision avoidance model of bogie dynamic simulation test bench [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1661-1668.
[6] SONG Da-feng, WU Xi-tao, ZENG Xiao-hua, YANG Nan-nan, LI Wen-yuan. Life cycle cost analysis of mild hybrid heavy truck based on theoretical fuel consumption model [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1313-1323.
[7] ZHU Jian-feng, ZHANG Jun-yuan, CHEN Xiao-kai, HONG Guang-hui, SONG Zheng-chao, CAO Jie. Design modification for automotive body structure based on seat pull safety performance [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1324-1330.
[8] NA Jing-xin, PU Lei-xin, FAN Yi-sa, SHEN Chuan-liang. Effect of temperature and humidity on the failure strength of Sikaflex-265 aluminum adhesive joints [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1331-1338.
[9] WANG Yan, GAO Qing, WANG Guo-hua, ZHANG Tian-shi, YUAN Meng. Simulation of mixed inner air-flow integrated thermal management with temperature uniformity of Li-ion battery [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1339-1348.
[10] JIN Li-sheng, XIE Xian-yi, GAO Lin-lin, GUO Bai-cang. Distributed electric vehicle stability control based on quadratic programming [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1349-1359.
[11] KUI Hai-lin, BAO Cui-zhu, LI Hong-xue, LI Ming-da. Idling time prediction method based on least square support vector machine [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1360-1365.
[12] WANG De-jun, WEI Wei-li, BAO Ya-xin. Actuator fault diagnosis of ESC system considering crosswind interference [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1548-1555.
[13] HU Man-jiang, LUO Yu-gong, CHEN Long, LI Ke-qiang. Vehicle mass estimation based on longitudinal frequency response characteristics [J]. 吉林大学学报(工学版), 2018, 48(4): 977-983.
[14] LIU Guo-zheng, SHI Wen-ku, Chen Zhi-yong. Finite element analysis of transmission error for hypoid gears considering installation error [J]. 吉林大学学报(工学版), 2018, 48(4): 984-989.
[15] YU Liang, LI He-yan, MA Biao, LI Hui-zhu, LI Ming-yang. Analysis and verification for average axial pressure attenuation of multi-disc clutch [J]. 吉林大学学报(工学版), 2018, 48(4): 990-997.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
[1] LI Jing, HAN Zuo-yue, YANG Wei, XING Guo-cheng, ZHOU Yu. Drive system for magnetorheological suspension based on nonlinear damper electric model[J]. 吉林大学学报(工学版), 2018, 48(3): 645 -651 .
[2] ZHANG Lin, ZHANG Xin-jie, GUO Kong-hui, WANG Chao, LIU Yang, LIU Tao. Rolling window optimization for intelligent vehicle trajectory planning in unknown environment[J]. 吉林大学学报(工学版), 2018, 48(3): 652 -660 .
[3] ZHAO Er-hui, MA Biao, LI He-yan, DU Qiu, WU Jian-peng, MA Cheng-nan. Effect of non-uniform contact on friction characteristics of wet clutches[J]. 吉林大学学报(工学版), 2018, 48(3): 661 -669 .
[4] LI Qi-liang, CAO Guan-ning, LI Xuan, YANG Zhi-gang, ZHONG Li-yuan. Multi-parameters aerodynamic optimization of sedan[J]. 吉林大学学报(工学版), 2018, 48(3): 670 -676 .
[5] CHEN Yong-heng, LIU Xin-shan, XIONG Shuai, WANG Kun-wei, SHEN Yao, YANG Shao-hui. Variable speed limit control under snow and ice conditions for urban expressway in junction bottleneck area[J]. 吉林大学学报(工学版), 2018, 48(3): 677 -687 .
[6] WANG Zhan-zhong, LU Yue, LIU Xiao-feng, ZHAO Li-ying. Improved harmony search algorithm on truck scheduling for cross docking system[J]. 吉林大学学报(工学版), 2018, 48(3): 688 -693 .
[7] LI Zhi-hui, HU Yong-li, ZHAO Yong-hua, MA Jia-lei, LI Hai-tao, ZHONG Tao, YANG Shao-hui. Locating moving pedestrian from running vehicle[J]. 吉林大学学报(工学版), 2018, 48(3): 694 -703 .
[8] SUN Bao-feng, GAO Kun, SHEN Xiu-xiu, LIANG Ting. Location model of gas station for network expansion based on capacity balance and variable coverage radius[J]. 吉林大学学报(工学版), 2018, 48(3): 704 -711 .
[9] GONG Ya-feng, SHEN Yang-fan, TAN Guo-jin, HAN Chun-peng, HE Yu-long. Unconfined compressive strength of fiber soil with different porosity[J]. 吉林大学学报(工学版), 2018, 48(3): 712 -719 .
[10] ZHONG Bing, HONG Wei, JIN Zhao-hui, SU Yan, XIE Fang-xi, ZHANG Fu-wei. Movement characteristics of hydraulic variable valve train with early intake valve closing[J]. 吉林大学学报(工学版), 2018, 48(3): 727 -734 .
Copyright © Journal of Jilin University(Engineering and Technology Edition), All Rights Reserved.
Tel: +86-431-85095297　Fax: +86-431-85094074　E-mail: xbgxb@jlu.edu.cn
Powered by Beijing Magtech Co. Ltd