文章基本信息

标题：STABILITY CONTROL FOR SIX-WHEEL DRIVE ARTICULATED VEHICLE BASED ON DIRECT YAW MOMENT CONTROL METHOD
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作者：YITING KANG ; WENMING ZHANG
期刊名称：Journal of Theoretical and Applied Information Technology
印刷版ISSN：1992-8645
电子版ISSN：1817-3195
出版年度：2013
卷号：49
期号：1
出版社：Journal of Theoretical and Applied
摘要：Six-wheel drive (6WD) articulated dump truck has excellent passing ability and high productivity, but its stability should be improved. A dynamic model of 6WD articulated vehicle with 3 degree-of-freedom (DOF) is established. With the control variables of yaw velocity and side-slip angle at mass center of front body, a feedfoward-feedback control system is designed by linear quadratic regulator (LQR) theory based on direct yaw-moment control (DYC) method. A simulation with a step input of articulated angle is conducted, and the result shows that the value of side-slip angle at mass center, yaw velocity and lateral acceleration all drop after control, and the control system is effective to improve the vehicle stability. The weight coefficients are regulated to analyze their influence on control effect, and the result indicates that it is necessary to regulate them to reach the optimum of both energy and error of control.
关键词：Articulated Vehicle; Vehicle Stability Control; Direct Yaw Moment Control (DYC); Linear Quadratic Regulator (LQR)