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Integration of vehicle yaw stabilisation and rollover prevention through nonlinear hierarchical control allocation.

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Název: Integration of vehicle yaw stabilisation and rollover prevention through nonlinear hierarchical control allocation.
Autoři: Alberding, Matthäus B., Tjønnås, Johannes, Johansen, Tor A.
Zdroj: Vehicle System Dynamics; Dec2014, Vol. 52 Issue 12, p1607-1621, 15p
Témata: ROLLOVER vehicle accidents, NONLINEAR systems, PROBLEM solving, ACTUATORS, AUTOMOBILE braking, MULTIBODY systems, COMPUTER simulation, PREVENTION
Abstrakt: This work presents an approach to rollover prevention that takes advantage of the modular structure and optimisation properties of the control allocation paradigm. It eliminates the need for a stabilising roll controller by introducing rollover prevention as a constraint on the control allocation problem. The major advantage of this approach is the control authority margin that remains with a high-level controller even during interventions for rollover prevention. In this work, the high-level control is assigned to a yaw stabilising controller. It could be replaced by any other controller. The constraint for rollover prevention could be replaced by or extended to different control objectives. This work uses differential braking for actuation. The use of additional or different actuators is possible. The developed control algorithm is computationally efficient and suitable for low-cost automotive electronic control units. The predictive design of the rollover prevention constraint does not require any sensor equipment in addition to the yaw controller. The method is validated using an industrial multi-body vehicle simulation environment. [ABSTRACT FROM AUTHOR]
Copyright of Vehicle System Dynamics is the property of Taylor & Francis Ltd and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
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  Data: Integration of vehicle yaw stabilisation and rollover prevention through nonlinear hierarchical control allocation.
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  Data: <searchLink fieldCode="AR" term="%22Alberding%2C+Matthäus+B%2E%22">Alberding, Matthäus B.</searchLink><br /><searchLink fieldCode="AR" term="%22Tjønnås%2C+Johannes%22">Tjønnås, Johannes</searchLink><br /><searchLink fieldCode="AR" term="%22Johansen%2C+Tor+A%2E%22">Johansen, Tor A.</searchLink>
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  Data: Vehicle System Dynamics; Dec2014, Vol. 52 Issue 12, p1607-1621, 15p
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  Data: <searchLink fieldCode="DE" term="%22ROLLOVER+vehicle+accidents%22">ROLLOVER vehicle accidents</searchLink><br /><searchLink fieldCode="DE" term="%22NONLINEAR+systems%22">NONLINEAR systems</searchLink><br /><searchLink fieldCode="DE" term="%22PROBLEM+solving%22">PROBLEM solving</searchLink><br /><searchLink fieldCode="DE" term="%22ACTUATORS%22">ACTUATORS</searchLink><br /><searchLink fieldCode="DE" term="%22AUTOMOBILE+braking%22">AUTOMOBILE braking</searchLink><br /><searchLink fieldCode="DE" term="%22MULTIBODY+systems%22">MULTIBODY systems</searchLink><br /><searchLink fieldCode="DE" term="%22COMPUTER+simulation%22">COMPUTER simulation</searchLink><br /><searchLink fieldCode="DE" term="%22PREVENTION%22">PREVENTION</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: This work presents an approach to rollover prevention that takes advantage of the modular structure and optimisation properties of the control allocation paradigm. It eliminates the need for a stabilising roll controller by introducing rollover prevention as a constraint on the control allocation problem. The major advantage of this approach is the control authority margin that remains with a high-level controller even during interventions for rollover prevention. In this work, the high-level control is assigned to a yaw stabilising controller. It could be replaced by any other controller. The constraint for rollover prevention could be replaced by or extended to different control objectives. This work uses differential braking for actuation. The use of additional or different actuators is possible. The developed control algorithm is computationally efficient and suitable for low-cost automotive electronic control units. The predictive design of the rollover prevention constraint does not require any sensor equipment in addition to the yaw controller. The method is validated using an industrial multi-body vehicle simulation environment. [ABSTRACT FROM AUTHOR]
– Name: Abstract
  Label:
  Group: Ab
  Data: <i>Copyright of Vehicle System Dynamics is the property of Taylor & Francis Ltd and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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        Value: 10.1080/00423114.2014.952643
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      – Code: eng
        Text: English
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      Pagination:
        PageCount: 15
        StartPage: 1607
    Subjects:
      – SubjectFull: ROLLOVER vehicle accidents
        Type: general
      – SubjectFull: NONLINEAR systems
        Type: general
      – SubjectFull: PROBLEM solving
        Type: general
      – SubjectFull: ACTUATORS
        Type: general
      – SubjectFull: AUTOMOBILE braking
        Type: general
      – SubjectFull: MULTIBODY systems
        Type: general
      – SubjectFull: COMPUTER simulation
        Type: general
      – SubjectFull: PREVENTION
        Type: general
    Titles:
      – TitleFull: Integration of vehicle yaw stabilisation and rollover prevention through nonlinear hierarchical control allocation.
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            NameFull: Alberding, Matthäus B.
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            NameFull: Tjønnås, Johannes
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            NameFull: Johansen, Tor A.
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          Dates:
            – D: 01
              M: 12
              Text: Dec2014
              Type: published
              Y: 2014
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