Robust Yaw Stability Controller Design and Hardware-in-the-Loop Testing for a Road Vehicle


Guvenc B. A. , Guvenc L., Karaman S.

IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, cilt.58, ss.555-571, 2009 (SCI İndekslerine Giren Dergi) identifier identifier

  • Cilt numarası: 58 Konu: 2
  • Basım Tarihi: 2009
  • Doi Numarası: 10.1109/tvt.2008.925312
  • Dergi Adı: IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY
  • Sayfa Sayıları: ss.555-571

Özet

Unsymmetrical loading on a car like p-split braking, side wind forces, or unilateral loss of tire pressure results in unexpected yaw disturbances that require yaw stabilization either by the driver or by an automatic driver-assist system. The use of two-degrees-of-freedom, control architecture known as the model regulator is investigated here as a robust steering controller for such yaw stabilization tasks in a driver-assist system. The yaw stability-enhancing steering controller is designed in the parameter space to satisfy a frequency-domain mixed sensitivity constraint. To evaluate the resulting controller design, a real-time hardware-in-the-loop simulator is developed. Steering tests with and without the controller in this hardware-in-the-loop setup allow the driver to see the effect of the proposed controller to improve vehicle-handling quality. The hardware-in-the-loop simulation setup can also be used for real-time driver-in-the-loop simulation of other vehicle control systems.