Vehicle Trajectory Following and Rollover Prevention Control Systems Using Differential Wheel Torques

• Main Authors: Chao-Hung Weng, 翁肇鴻
• Other Authors: Tsung-Lin Chen
• Format: Others
• Language: zh-TW
• Published: 2008
• Online Access: http://ndltd.ncl.edu.tw/handle/07560200307623649712

碩士 === 國立交通大學 === 機械工程系所 === 97 === In this thesis, we present a vehicle trajectory following and rollover prevention systems using different wheel torques only. Moreover, we propose a novel reference trajectory design from drivers’ maneuverings. Therefore, the trajectory following controls would try to regulate the vehicle to a trajectory close to drivers’ intentions. In order to simulate the vehicle dynamics under various driving conditions, a “full-car model” with 20 system states is constructed. However, a full-car model is too complicate for a controller design. A simplified vehicle model, which neglects pitch motions from the full-car model, is used for controller design. The controller is developed from the “sliding mode control” techniques so that it has the robustness to cope with unmodelled dynamics. Simulation results indicate that, in a vehicle rollover case, the proposed control systems can achieve both trajectory followings and rollover preventions simultaneously. However, the trajectory followings would fail when the vehicle starts to skid.