An active stability controller design for e-drive articulated steer vehicles

摘要

The lateral stability of articulated steer vehicles (ASV) reduces with the raise of vehicle speed, it can be improved by active control. Considering the effect of steering oil pressure on vehicle body, the vehicle dynamics model (VDM) coupling hydraulic steering system is established. Based on the characteristics that each wheel of the e-drive ASV can be controlled independently, an active stability controller is designed by hierarchical control method to improve the stability of ASV. The controller is composed of yaw moment calculation, driving force distribution and traction anti-slip control. Simulation results under random force interference show that the oscillation amplitude of articulation angle decreased by 78.9%, the lateral displacement of front and rear sections decreased by 94.6% and 87.2% respectively. The results suggest that the established controller improves the driving stability of ASV effectively.