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

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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

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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
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