Chinese Journal of Mechanical Engineering >

2021 , Vol. 34 >Issue 4: 79 - 79

DOI: https://doi.org/10.1186/s10033-021-00600-4

Advanced Transportation Equipment

An Adaptive Nonsingular Fast Terminal Sliding Mode Control for Yaw Stability Control of Bus Based on STI Tire Model

  • Xiaoqiang Sun ,
  • Yujun Wang ,
  • Yingfeng Cai ,
  • Pak Kin Wong ,
  • Long Chen
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  • 1. Automotive Engineering Research Institute, Jiangsu University, Zhenjiang, 212013, China;
    2. Department of Electromechanical Engineering, University of Macau, Taipa, Macau, China;
    3. State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, 100084, China

收稿日期: 2020-06-18

  修回日期: 2021-01-31

  网络出版日期: 2021-12-21

基金资助

Supported by National Natural Science Foundation of China (Grant Nos. 52072161, U20A20331), China Postdoctoral Science Foundation (Grant No. 2019T120398), State Key Laboratory of Automotive Safety and Energy of China (Grant No. KF2016), Vehicle Measurement Control and Safety Key Laboratory of Sichuan Province (Grant No. QCCK2019-002), and Young Elite Scientists Sponsorship Program by CAST (Grant No. 2018QNRC 001).

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An Adaptive Nonsingular Fast Terminal Sliding Mode Control for Yaw Stability Control of Bus Based on STI Tire Model

  • Xiaoqiang Sun ,
  • Yujun Wang ,
  • Yingfeng Cai ,
  • Pak Kin Wong ,
  • Long Chen
Expand
  • 1. Automotive Engineering Research Institute, Jiangsu University, Zhenjiang, 212013, China;
    2. Department of Electromechanical Engineering, University of Macau, Taipa, Macau, China;
    3. State Key Laboratory of Automotive Safety and Energy, Tsinghua University, Beijing, 100084, China

Received date: 2020-06-18

  Revised date: 2021-01-31

  Online published: 2021-12-21

Supported by

Supported by National Natural Science Foundation of China (Grant Nos. 52072161, U20A20331), China Postdoctoral Science Foundation (Grant No. 2019T120398), State Key Laboratory of Automotive Safety and Energy of China (Grant No. KF2016), Vehicle Measurement Control and Safety Key Laboratory of Sichuan Province (Grant No. QCCK2019-002), and Young Elite Scientists Sponsorship Program by CAST (Grant No. 2018QNRC 001).

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摘要

Due to the bus characteristics of large quality, high center of gravity and narrow wheelbase, the research of its yaw stability control (YSC) system has become the focus in the field of vehicle system dynamics. However, the tire nonlinear mechanical properties and the effectiveness of the YSC control system are not considered carefully in the current research. In this paper, a novel adaptive nonsingular fast terminal sliding mode (ANFTSM) control scheme for YSC is proposed to improve the bus curve driving stability and safety on slippery roads. Firstly, the STI (Systems Technologies Inc.) tire model, which can effectively reflect the nonlinear coupling relationship between the tire longitudinal force and lateral force, is established based on experimental data and firstly adopted in the bus YSC system design. On this basis, a more accurate bus lateral dynamics model is built and a novel YSC strategy based on ANFTSM, which has the merits of fast transient response, finite time convergence and high robustness against uncertainties and external disturbances, is designed. Thirdly, to solve the optimal allocation problem of the tire forces, whose objective is to achieve the desired direct yaw moment through the effective distribution of the brake force of each tire, the robust least-squares allocation method is adopted. To verify the feasibility, effectiveness and practicality of the proposed bus YSC approach, the TruckSim-Simulink co-simulation results are finally provided. The co-simulation results show that the lateral stability of bus under special driving conditions has been significantly improved. This research proposes a more effective design method for bus YSC system based on a more accurate tire model.

关键词： Bus; Yaw stability control; Sliding mode control; STI tire model; Co-simulation

本文引用格式

Xiaoqiang Sun , Yujun Wang , Yingfeng Cai , Pak Kin Wong , Long Chen . An Adaptive Nonsingular Fast Terminal Sliding Mode Control for Yaw Stability Control of Bus Based on STI Tire Model[J]. Chinese Journal of Mechanical Engineering, 2021 , 34(4) : 79 -79 . DOI: 10.1186/s10033-021-00600-4

Abstract

Due to the bus characteristics of large quality, high center of gravity and narrow wheelbase, the research of its yaw stability control (YSC) system has become the focus in the field of vehicle system dynamics. However, the tire nonlinear mechanical properties and the effectiveness of the YSC control system are not considered carefully in the current research. In this paper, a novel adaptive nonsingular fast terminal sliding mode (ANFTSM) control scheme for YSC is proposed to improve the bus curve driving stability and safety on slippery roads. Firstly, the STI (Systems Technologies Inc.) tire model, which can effectively reflect the nonlinear coupling relationship between the tire longitudinal force and lateral force, is established based on experimental data and firstly adopted in the bus YSC system design. On this basis, a more accurate bus lateral dynamics model is built and a novel YSC strategy based on ANFTSM, which has the merits of fast transient response, finite time convergence and high robustness against uncertainties and external disturbances, is designed. Thirdly, to solve the optimal allocation problem of the tire forces, whose objective is to achieve the desired direct yaw moment through the effective distribution of the brake force of each tire, the robust least-squares allocation method is adopted. To verify the feasibility, effectiveness and practicality of the proposed bus YSC approach, the TruckSim-Simulink co-simulation results are finally provided. The co-simulation results show that the lateral stability of bus under special driving conditions has been significantly improved. This research proposes a more effective design method for bus YSC system based on a more accurate tire model.

Key words： Bus; Yaw stability control; Sliding mode control; STI tire model; Co-simulation

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