The Research On Vehicle Stability Integrated Control Framework Of Differential Braking And Semi-Active Suspension

The performance including combined control strategy of rollover avoidance and yaw stability control objective in electronic stability control(ESC)carried out in this thesis,the semiactive suspension control algorithms,and active differential braking control algorithms combined are use.The existing vehicle dynamic stability control system(VDSCS)is commonly focused on yaw stability and cannot provide the satisfactory roll stability for a vehicle with the elevated center of gravity(CG).This thesis provides a novel three Dimensional Dynamic Stability Controller with MRD based on MPC and hierarchical control techniques taking both yaw stabilities via differential braking and rollover avoidance via semi-active suspension into account.A future difficulty presented by real vehicles is that the payloads may and probably will change with unpredictable time as will the terrain on which it is expected to operate.A methodology has been developed to address this limitation,and to generate the future and realtime estimation of a Vehicles Instantaneous Maneuvering(VIM)manifold States.The Model Predictive Control(MPC)can predict the states of the vehicle in future and give us feedback earlier and better performance than other traditional controllers such as feedback controller etc.In a few crucial situations,the design we use in MPC,which perhaps decrease the precision of estimation.The system consists of the supervisor,a controller which exists in the top place and two controller lies on the bottom area.A vehicle model with nonlinear behavior used in a supervisor to predict the vehicle states in the future,after that based on vehicle predicted states and vehicle present states the upper controller has been designed,semi-active suspension and active differential braking control strategy implement on the vehicle for better accuracy in rollover prevention and yaw stability.Model predictive controller(MPC)used in the upper controller to calculate the desired damping forces and tire forces of the four wheels,all calculation is under the limit of actuator ability on the bias of supervisor output.The lower controller is designed to control the desired damping forces and tire forces of the four wheels.The bouc-wen model is used to realize the behavior of Magnetorheological(MR)damper.A PID controller is utilized tocontrol the Magnetorheological(MR)damper,to achieve the desired damping forces from the upper controller.These all techniques combined apply to map out the instantaneous maneuvering manifold while using novel and viable methods to account for dynamic rollover prevention and stability limitations on the vehicle.All control algorithms are implemented in MATLAB,simulated against the CarSim models,and outcomes are shown to prove the validity of the novel and viable techniques.The developed methodology is shown to be a unique approach that is capable of addressing the problem of successful vehicle rollover prevention and vehicle stability.