Abstract:
The front steering angle control and its integration with the
direct yaw moment control are suggested to enhance the handling
performance for heavy-duty vehicles based on a 3D vehicle
model. The double-cost-function LQR methodology (DLQR), which
extends the concept and the applicable field of LQR to express
the practical requirements more plainly, is proposed to determine
the control input value: compensation value of front steering
angle in the optimal model. A simple auto-tuning proportion
controller is employed in direct yaw moment control to regulate
the moment timely. The simulation results show that front
steering angle control using DLQR has good ability to achieve
the desired steering output in the different running conditions.
DLQR is more powerful to balance many factors effectively based
on the explicit mathematics expression of the physics of the
problem than LQR does.
Key words: Vehicle
dynamics Four wheel steering Yaw moment control Front steering
angle control Double-cost-function LQR
Manuscript received on
June 18, 1999; revised manuscript October 29, 1999
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