Research on coordinated control of electronic stability program and active suspension system based on function allocation and multi-objective fuzzy decision

Abstract

The stabilities of the handling and rollover are the two important performance of the vehicle and play an important role in vehicle safe driving. Focusing on improving the handling and rollover stabilities, a new approach to realize the coordinated control of the electronic stability program and the active suspension system is proposed. The vehicle model including the active suspension system has been built. The distance between vehicle centroid and the front and rear axles is estimated by the forgetting factor recursion least squares method on the basis of the vertical motion of the vehicle. The parameter self-tuning fuzzy proportional–integral–derivative control of the electronic stability program is adopted and the 2-degree-of-freedom vehicle model considering the changes of the distance between vehicle centroid and the front and rear axles is treated as the reference model. The active suspension system controller is designed according to the different functions of the active suspension system in different vehicle status areas. The function allocation controller is also designed using multi-objective fuzzy decision, which is used to realize the allocation control of the active suspension system and electronic stability program. Under the double-lane change conditions, the function allocation control has been simulated based on MATLAB/Simulink software, which results indicate that the function allocation control strategy of electronic stability program and active suspension system can significantly improve the manipulation and rollover stability of the vehicle at a high speed under emergency steering. Finally, the function allocation controller is installed to the active suspension system and electronic stability program hardware-in-loop test platform, and the hardware-in-loop test has been done, which results are consistent with the results of simulation.

Keywords

Electronic stability program active suspension system multi-objective fuzzy decision function allocation coordination control hardware-in-loop test

Get full access to this article

View all access options for this article.

References

Yim

Park

. Design of active suspension and electronic stability program for rollover prevention. Int J Auto Tech-kor 2010; 11(2): 147–153.

Hopkins

Taheri

Ahmadian

et al . Yaw stability control and emergency roll control for vehicle rollover mitigation. SAE technical paper 2010-01-1901, 2010.

Rajamani

Piyabongkarn

. New paradigms for the integration of yaw stability and rollover prevention functions in vehicle stability control. IEEE T Intell Transp 2013; 14(1): 249–261.

Her

Suh

. Integrated control of the differential braking, the suspension damping force and the active roll moment for improvement in the agility and the stability. Proc IMechE, Part D: J Automobile Engineering 2015; 229(9): 1145–1157.

Nourisola

Ahmadi

. Robust adaptive H_∞ controller based on GA-Wavelet-SVM for nonlinear vehicle suspension with time delay actuator. J Vib Control 2015; 22(20): 4111–4120.

Zhang

Yang

. Integrated control based on semi-active suspension and electronic stability control system considering active roll control. J Tongji Univ: Nat Sci Ed 2016; 44(3): 402–410.

Zhao

Taheri

. A multi-objective LMI-based antiroll control system. SAE Int J Commer Veh 2012; 5(2): 421–428.

Chen

Zhou

Liu

. Simulation research on layered coordinated control of automotive ESP and ASS. Chin J Mech Eng 2009; 45(8): 190–196.

Yang

Guo

et al . Adaptive estimation of road gradient and vehicle parameters for vehicular systems. IET Control Theory A 2015; 9(6): 935–943.

10.

Kim

Shin

Yoo

et al . Development of algorithms for commercial vehicle mass and road grade estimation. Int J Auto Tech-kor 2017; 18(6): 1077–1083.

11.

Sadati

Malekzadeh

Ghasemi

. Optimal control of an 8-DOF vehicle active suspension system using Kalman observer. Shock Vib 2013; 15(5): 493–503.

12.

Wang

Huang

Chen

et al . Estimation of automobile front/rear axle cornering stiffness based on the adaptive FFRLS. Chin J Mech Eng 2012; 48(12): 110–117.

13.

Pacejka

. Tyre and vehicle dynamics. Oxford: Butterworth-Heinemann, 2002.

14.

Wang

Qin

Chen

. Research on integrated control of automobile active suspension and electrical power steering systems based on multi-degrees of freedom model. J Syst Simul 2009; 21(16): 5130–5129.

15.

Xuan

Song

Jin

et al . Multi level robust PID control strategy for vehicle stability control. J Jilin U: Techno Ed 2010; 40(1): 13–18.

16.

Yoon

Kim

. Design of a rollover index-based vehicle stability control scheme. Vehicle Syst Dyn 2007; 45(5): 459–475.

17.

Wang

Liu

. An improved multi-criteria fuzzy decision-making method based on vague sets. J Lanzhou Inst Technol 2016; 23(2): 84–89.

18.

Gau

Buehrer

. Vague sets. IEEE T Syst Man Cyb 2002; 23(2): 610–614.

19.

Sarkar

. Modeling and validation of a 2-DOF parallel manipulator for pose control application. Robot Cim-Int Manuf 2018; 50: 234–241.

20.

Dasmahapatra

Sarkar

Saha

et al . Design of an adaptive fuzzy-bias SMC and validation for a rugged electrohydraulic system. IEEE/ASME T Mech 2015; 20(6): 2708–2715.

21.

Zeng

. Fuzzy control theory and engineering applications. Wuhan, China: Huazhong University of Science and Technology Press, 2006.

22.

. Robust control-linear matrix inequalities approach. Beijing, China: Tinghua University Press, 2002.

23.

Chao

Ding

. Influence of centroid shift on steering trait for four wheel steering vehicles. J Xihua Univ 2007; 26(4): 17–19.