Road Handling Improvement Through Active Yaw Control System for Road Vehicle

Ong, Kevin (2019) Road Handling Improvement Through Active Yaw Control System for Road Vehicle. Final Year Project (Bachelor), Tunku Abdul Rahman University College.

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Abstract

Road handling plays an important roles for the vehicle to turn according to the driver intention from steering angle input. Theoretically a road vehicle is design to have a good handling performance on the even surface and high track grip road condition. However desired performance cannot be achieved due to unpredictable road condition such as uneven surface and slippery road during raining. This research is focusing on the integration of two robust controller which are Sliding Mode Controller (SMC) and feedforward controller into the vehicle model. Sliding Mode Controller will be used to improve the transient response of the vehicle yaw rate while minimizing the side-slip angle as close to zero as possible. At the same time Feedforward controller will be responsible to reject external disturbance acted on the vehicle model in which uncertainties in road coefficient will be the disturbance model in this study. The two main vehicle model developed and applied in MATLAB Simulink in this research were 2 Degree of Freedom and 8 Degree of Freedom vehicle model. Bicycle model (2 Degree of Freedom) vehicle model will reflect the desired vehicle model while 8 Degree of Freedom vehicle model will reflect real world actual vehicle model. The two vehicle model developed in MATLAB Simulink were then validated by using the published renowned research data. The vehicle model equipped with controller will be subjected to J-turn maneuver and double lane changing maneuver test input and the designed controller was tuned so that the yaw rate and side-slip angle of the actual vehicle model track the desired vehicle model response. Disturbance rejection problem arises from the SMC controller was highlighted and the solution to overcome this problems has been proposed. The proposed controller is the SMC-Feedforward controller and the performance is compared with SMC controller and also passive vehicle model. The results shows that SMC-Feedforward controller has performed outstandingly as compare with other controller as vehicle model handling performance has improved greatly after integrating SMC-Feedfoward controller. The proposed controller has successfully solved the disturbance rejection problem by minimizing the disturbance effect on the vehicle model, which eventually improve the handling performance of the vehicle in terms of yaw rate and sideslip angle. Through the simulation in Simulink SMC-Feedforward shows average improvement of approximately 30.42 % and 39.41 % for J-Turn and Double Lane Changing Test respectively. At the same time , SMC is able to improve the yaw rate for J-Turn and Double Lane Changing Test by 16.08 % and 17.73 % respectively. The improvement of yaw rate for SMC-Feedfoward is double of the improvement for SMC only , which shows that SMC-Feedforward will perfom better in real world application especially with the presence of distrubance.