International Journal of Automotive Technology. 2024; 25(2): 353-368.
Integrated Control of Three-Axle Vehicles to Improve the Lateral Dynamics on Slippery Road
Mechanical Engineering , Amirkabir University of Technology
ABSTRACT
To improve the handling and directional stability of three-axle heavy vehicles, this paper suggests a control strategy that
combines direct yaw moment control (DYC) and active front steering (AFS). The control system's structure is divided into
three main layers. Based on an online adjustable index, a fuzzy controller acting as a supervised system decides the cooperation
of DYC and AFS in the upper layer. In the intermediate layer, the DYC system controller uses a sliding mode controller
to calculate the corrective body moment. The AFS system uses a fuzzy controller to generate the corrective steering angle
necessary to achieve the three-axle vehicle motion objective. The algorithm for distributing braking force and the slip ratio
control (SRC) system comprises the lower layer. The anti-lock braking system (ABS) in the SRC system is built to produce
the necessary braking forces at low slip ratios while preventing the wheels from locking up at high slip ratios. Consideration
has been given to a heavy, three-axle, 9-DOF nonlinear vehicle with uncertain dynamics. Trucksim software and simulation
tests have validated the model. The proposed control system's satisfactory performance is shown through various maneuvers.
Keywords :
Three-axle vehicle · Active safety · Integrated control · Sliding mode control · Fuzzy control
