Enhancement of Articulated Heavy Vehicle Stability by Optimal Linear Quadratic Regulator (LQR) Controller of Roll-yaw Dynamics
محل انتشار: مجله علم مهندسی خودرو، دوره: 2، شماره: 2
سال انتشار: 1391
نوع سند: مقاله ژورنالی
زبان: انگلیسی
مشاهده: 39
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شناسه ملی سند علمی:
JR_IJAEIU-2-2_007
تاریخ نمایه سازی: 5 دی 1402
چکیده مقاله:
Non-linear characteristic of tire forces is the main cause of vehicle lateral dynamics instability,
while direct yaw moment control is an effective method to recover the vehicle stability. In this
paper, an optimal linear quadratic regulator (LQR) controller for roll-yaw dynamics to
articulated heavy vehicles is developed. For this purpose, the equations of motion obtained by
the MATLAB software are coded and then a control law is introduced by minimizing the local
differences between the predicted and the desired responses. The influence of some parameters
such as the anti roll bar, change the parameters of the suspension system and track wide in
articulated heavy vehicles stability has been studied. The simulation results show that the
vehicle stability can be remarkably improved when the optimal linear controller is applied
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