This book belongs to the field of intelligent vehicle control, which is dedicated to the research of nonlinear control problems of intelligent vehicle chassis-by-wire systems. Through the nonlinear stability control of the steer-by-wire system and the consistency optimization control of the brake-by-wire system, the performance of the vehicle subsystem is improved. Then, the decoupling control of the nonlinear inverse system is used to realize the decoupling of the chassis-by-wire system. Finally, this book further adopts nonlinear rollover prevention integrated control to improve the rollover prevention performance of the vehicle.
Author(s): Wanzhong Zhao, Chunyan Wang
Series: Recent Advancements in Connected Autonomous Vehicle Technologies, 2
Publisher: Springer
Year: 2022
Language: English
Pages: 250
City: Singapore
Preface
Contents
1 Introduction
1.1 SBW System
1.2 BBW System
1.3 CBW Integrated System
1.3.1 Integrated Control of Chassis Integrated System
1.3.2 Decoupling Control of Chassis Integrated System
References
2 Nonlinear Stability Control of Steer-by-Wire System
2.1 Overview
2.1.1 Development History of Steering System
2.1.2 Steer-by-Wire System
2.2 Steer-by-Wire System and Vehicle Dynamics Model
2.2.1 Steer-by-Wire System Model
2.2.2 Tire Model
2.2.3 Vehicle Model
2.2.4 Reference Model
2.3 Nonlinear Stability Control of Steer-by-Wire System
2.3.1 Problem Description
2.3.2 Design of Nonlinear Controller Based on µ Synthesis Control
2.3.3 Simulation Results and Analysis
2.4 Nonlinear Control of Steer-by-Wire Considering the Driver Characteristics
2.4.1 Problem Statement
2.4.2 Driver Modeling and Parameter Identification
2.4.3 Improvement of Nonlinear Controller Considering Driver Characteristics
2.4.4 Simulation Results and Analysis
2.5 Summary of This Chapter
References
3 Consistency Optimization Control of Electro-Hydraulic Composite Brake-by-Wire System
3.1 Overview
3.1.1 Brake-by-Wire
3.1.2 Composite Brake-by-Wire System
3.2 Dynamics Modeling of EHCBBWS
3.2.1 Electric Braking System Model
3.2.2 Hydraulic Braking System Model
3.2.3 Vehicle and Tire Model
3.3 Multi-Objective Optimization Distribution of Braking Force
3.3.1 The Performance Indexes of Braking Force Optimization
3.3.2 Impact Analysis of System Parameters on Evaluation Indexes
3.3.3 Braking Force Distribution Optimization
3.3.4 Simulation Results and Analysis
3.4 Braking Sense Consistency Control
3.4.1 Problem Description
3.4.2 Consistency Control Strategy
3.4.3 Controller Design
3.4.4 Simulation Results and Analysis
3.5 Summary of This Chapter
References
4 Decoupling Control of Nonlinear Inverse System for Chassis-by-Wire System
4.1 Overview
4.2 Control System Model
4.3 Analysis of System Coupling Characteristics
4.4 Analysis of System Reversibility and Determination of Mapping Relation
4.4.1 Analysis of System Reversibility
4.4.2 Determination of Mapping Relation of Decoupling Variables
4.5 Nonlinear Decoupling of Chassis-by-Wire Based on Neural Network Inverse System
4.5.1 BP Neural Network
4.5.2 Neural Network Inverse System Decoupling
4.5.3 Neural Network Training and Verification
4.6 Design of Internal Model Robust Controller for Decoupling System
4.6.1 Design of Internal Model Robust Controller
4.6.2 Reference Model
4.7 Simulation and Result Analysis
4.7.1 Simulation of Decoupling Effect
4.7.2 Simulation of Tracking Effect
4.7.3 Simulation of Robust Performance
4.8 Summary of This Chapter
References
5 Nonlinear Rollover Prevention Integrated Control of Chassis-by-Wire System
5.1 Overview
5.2 The Rollover Prevention Warning Evaluation Index
5.2.1 Common Vehicle Rollover Evaluation Indexes
5.2.2 Analysis of the Rollover Evaluation Index
5.2.3 Establishment of the Rollover Warning Index
5.3 Driver Model and Identification Considering the Vehicle Rollover Stability
5.3.1 Overall Design of the Driver Modeling
5.3.2 Driver Behavior Characteristics Classification
5.3.3 Driver Rollover Prevention Model
5.3.4 Parameter Identification of Driver Rollover Prediction Model
5.4 System Rollover Prevention Integrated Control Considering Driver Characteristics
5.4.1 Problem Statement
5.4.2 Controller Overall Design
5.4.3 Upper-Level Supervisory Decision-Making Control
5.4.4 The Lower-Level Cooperative Execution Layer
5.4.5 Simulation and Result Analysis
5.5 Summary of This Chapter
References
