Development of Integrated Control of Electronic Stability Control, Continuous Damping Control and Active Anti-Roll Bar for Vehicle Yaw Stability

摘要

This paper describes an investigation into coordinated control of electronic stability control (ESC), continuous damping control (CDC) and active roll control system (ARC). The coordinated control is suggested to improve the vehicle stability and agility features by yaw rate control. At first, the relation of roll moment distribution and yaw dynamics is analyzed based on simplified tire model. The proposed integrated chassis control algorithm consists of a supervisor, control algorithms, and a coordinator. The supervisor monitors the vehicle status and determines desired vehicle motions such as a desired yaw rate and desired roll motion based on control modes to improve vehicle stability. According to the corresponding the desired vehicle dynamics, the control algorithm calculated a desired yaw moment and desired roll moment, respectively. Based on the desired yaw moment and the desired roll moment, the coordinator determines the brake pressures, the ARC motor torques and damper current based on control strategies. The ARC motor torque has been calculated to generate the roll moment and yaw moment simultaneously. Closed loop simulations with a driver-vehicle-controller system were conducted to investigate the performance of the proposed control strategy using CarSim vehicle dynamics software and the integrated controller coded using Matlab/Simulink.