A novel integrated vehicle chassis controller coordinating direct yaw moment control and active steering

作者：Li, Daofei; Yu, Fan

来源：14th Asia Pacific Automotive Engineering Conference, United States, 2007-08-05 to 2007-08-08.

DOI：10.4271/2007-01-3642

• Active steering
• Co-simulations
• Control allocation
• Control authorities
• Direct yaw moment control
• Sliding mode controller
• Vehicle chassis
• Vehicle handling

To optimally allocate control authorities to co-existing active actuators, an integrated chassis controller with main/servo-loop structure is designed to coordinate direct yaw moment control and active steering. Firstly, a sliding mode controller in the main-loop calculates the desired stabilizing forces. Then in the servo-loop, by directly considering limits of road friction and actuators, a quadratic programming based control allocation approach is adopted to reasonably and optimally distribute these deisired forces to tire actuator actions. Co-simulation of Matlab/Simulink and Carsim clarifies that the proposed controller could significantly improve vehicle handling performances.

• 出版日期2007
• 单位上海交通大学