INTEGRATED CONTROL OF THREE-AXLE VEHICLES TO IMPROVE THE LATERAL DYNAMICS ON SLIPPERY ROAD

다국어 초록 (Multilingual Abstract)

To improve the handling and directional stability of three-axle heavy vehicles, this paper suggests a control strategy thatcombines direct yaw moment control (DYC) and active front steering (AFS). The control system's structure is divided intothree main layers. Based on an online adjustable index, a fuzzy controller acting as a supervised system decides the cooperationof DYC and AFS in the upper layer. In the intermediate layer, the DYC system controller uses a sliding mode controllerto calculate the corrective body moment. The AFS system uses a fuzzy controller to generate the corrective steering anglenecessary to achieve the three-axle vehicle motion objective. The algorithm for distributing braking force and the slip ratiocontrol (SRC) system comprises the lower layer. The anti-lock braking system (ABS) in the SRC system is built to producethe necessary braking forces at low slip ratios while preventing the wheels from locking up at high slip ratios. Considerationhas been given to a heavy, three-axle, 9-DOF nonlinear vehicle with uncertain dynamics. Trucksim software and simulationtests have validated the model. The proposed control system's satisfactory performance is shown through various maneuvers.

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