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This paper analyses a comparison of performance for an active antiroll bar (ARB) system using two types of control strategy. First of all, the LQG control strategy is investigated and then a novel LQG CNF fusion control method is developed to improve the performances on vehicle ride and handling for an active antiroll bar system. However, the ARB s...
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... The vehicle dynamic behavior under the influence and effects of an antiroll bar mechanism is understood through a basic vehicle dynamic modeling with four DOFs on a halfcar model, which shows how external forces on the front antiroll bar can control the handling and ride comfort of the car [17]. A comparison of performance for an active antiroll bar (ARB) system using two types of control strategy has been analyzed, where the LQG control strategy has been investigated, and a novel LQG CNF fusion control method has been developed to improve the active antiroll bar system performance for vehicle ride comfort and handling [18]. An observer-based predictive control approach has been proposed to actively compensate random communication constraints in the feedback channel of each agent and between agents in the cooperative output tracking control problem of linear heterogeneous multiagent systems with random communication constraints [19]. ...
In ground testing of space manipulators, gravity compensation is a critical testing requirement. The objective of this paper was to design a space manipulator gravity compensation test platform for ground tests and solve the problems of force control oscillation and precision degradation caused by the execution lag encountered in the development process. An intelligent PID controller was designed for this active-suspension gravity compensation experimental mechanism of a space manipulator on the ground, and a specially designed second-order method was used to solve the problem of the execution lag in this mechanism. The intelligent controller was developed based on adaptive dynamic programming and redesigned to improve its transient performance. The simulation was carried out, and its results were compared with the results on a real machine to demonstrate the effectiveness of this set of experimental controllers. This paper compares in detail the results of the designed method on system input and output and shows the effectiveness of this method in dealing with the execution lag of the mechanism. In conclusion, in this work, we successfully designed and implemented an intelligent PID controller for an active-suspension gravity compensation experimental mechanism of a space manipulator on the ground, and the experimental results demonstrate the effectiveness of the proposed method.
... Unlike the systems outlined above, the stabilizer bar focuses solely on balancing the load between the two sides of the wheel. Therefore, its efficiency is higher [28]. ...
Under the influence of centrifugal force, the rollover phenomenon may occur. The vehicle rolls over when the wheel is completely separated from the road surface, i.e., the vertical force of the wheel is reduced to zero. To overcome this problem, the active stabilizer bar is used at the front and rear axles of the vehicle. The active stabilizer bar works on the difference in fluid pressure inside the hydraulic motor. This article is aimed at studying the vehicle rollover dynamics when the hydraulic stabilizer bar is used. In this article, the model of a complex dynamic is established. This is a combination of the model of spatial dynamics, the model of nonlinear double-track dynamics, and the nonlinear tire model. The operation of the hydraulic actuator is controlled by a fuzzy algorithm with 3-inputs. The defuzzification rule is determined based on the combination of 27 cases. The process of calculation and simulation is done with four specific cases corresponding to steering angles. In each case, three situations were investigated. Besides, the speed of the vehicle is also gradually increased from v1 to v4. As a result of the simulation, which was performed in the MATLAB-Simulink environment, the output values such as roll angle, change of the vertical force, and roll index were significantly reduced when the active stabilizer bar was used. If the vehicle does not use the stabilizer bar, the vehicle may roll over in both the second, third, and fourth cases. If the vehicle uses a mechanical stabilizer bar, this also occurs in the third and fourth cases (only at a very high velocity, v4). However, the rollover phenomenon did not occur if the vehicle used a hydraulic stabilizer bar controlled by the fuzzy 3-inputs algorithm. In all investigated cases, the stability and safety of the vehicle are always guaranteed. Besides, the responsiveness of the controller is also very good. An experimental process needs to be conducted to verify the correctness of this research.
... is actuator is a hydraulic motor controlled by the spool valve. Similarly, Zulkarnain et al. also use the LQR algorithm for the active stabilizer bar equipped with the half-dynamics model [23]. ...
Centrifugal force is what causes the vehicle to roll over. This force is generated when the vehicle suddenly changes direction when moving at high speed. The solution of using a stabilizer bar is suggested to minimize this phenomenon. There are currently three types of stabilizer bars in use: mechanical stabilizer bars, hydraulic stabilizer bars, and electronic stabilizer bars. The content of this article is aimed at introducing and reviewing the characteristics of the stabilizer bar. Besides, two oscillation simulation models of vehicles equipped with stabilizer bars are also analysed in this article. Additionally, the characteristics of the control algorithms for the stabilizer bar are clearly analysed. The half-dynamics model is suitable for algorithms that need to use oscillatory state matrices such as SMC, LQR, and LQG. The spatial dynamics model is suitable for some algorithms such as PID, fuzzy, and neural. The roll angle of the vehicle has been significantly improved when the stabilizer bar is fitted. In general, the stability and safety of the vehicle can be guaranteed if the vehicle uses a stabilizer bar.
... Instead of just using the conventional linear control method, Zulkarnain et al. proposed the use of the composite nonlinear feedback control method (CNF) to improve the efficiency of the system. According to [21], the CNF controller is designed to increase the damping ratio when the system output approaches the desired threshold and avoids overshoot. Based on the idea of minimizing the error of the control signal to the lowest threshold, Konieczny et al. proposed a sliding mode control algorithm (SMC) to control the operation of the antiroll system [22]. ...
... Figure 9 shows the change in the value of the vertical force in this simulation case. According to the results obtained from these graphs, the value of the vertical force of the wheel at position (21) tends to decrease the most. is is completely consistent with reality. eir minimum value is 3,486.9 ...
The rollover phenomenon is a particularly dangerous problem. This phenomenon occurs when the driver travels at high speed and suddenly steers. Under the influence of centrifugal force, the body vehicle will be tilted and cause the wheels to lift off the road. To solve this problem, the method of using an active stabilizer bar has been proposed. The active stabilizer bar is controlled automatically by a previously designed controller. The performance of the active stabilizer bar depends on the selected control method. Previous research often only used a half-car dynamics model combined with a linear single-track dynamics model to simulate the vehicle’s oscillation. In addition, most of the research focuses only on the use of linear control methods for the active stabilizer bar. Therefore, the performance of the stabilizer bar is not guaranteed. This paper focuses on establishing the model of spatial dynamics combined with the nonlinear double-track dynamics model that fully describes the vehicle’s oscillation most accurately. Besides, the fuzzy control method is proposed to control the operation of the hydraulic stabilizer bar. This is a completely novel model, and it is suitable for the actual traveling conditions of the vehicle. Also, simulations are done based on different scenarios. The results of the paper showed that the values of the roll angle, the difference in the vertical force at the wheels, and the displacement of the unsprung mass were significantly reduced when the vehicle used the active stabilizer bar, which is controlled by an intelligent control method. Therefore, the stability and safety of the vehicle have been guaranteed. This result will be the basis for performing other more complex research in the future.
... Besides the traditional control methods, many modern control methods have been used for the hydraulic stabilizer bar model. In [33], Zulkarnain et al. combined the use of LQG (Linear Quadratic Gaussian) and CNF (Composite Non-linear Feedback Controller) control methods. Its performance is better than using only the LQG control method. ...
When the vehicle is traveling at high speed and suddenly steers, a rollover phenomenon may occur. The main cause of this phenomenon is the appearance of a centrifugal force, which is proportional to the mass and the square of the velocity. In order to limit this situation, the method of using the hydraulic stabilizer bar (active stabilizer bar) has been proposed. The performance of the hydraulic stabilizer bar is highly dependent on the control method, which has been designed to ensure the stabilizer bar’s operation. Previous research often only used simple dynamics models and conventional linear control methods. Therefore, the performance of the stabilizer bar is not guaranteed. At the same time, the factors affecting the movement of a vehicle are not mentioned. This will cause inaccuracies. This research used a spatial dynamics model combined with a non-linear double-track dynamics model, which fully describes the effects of vehicle oscillations. Besides, the two-input Fuzzy control method is also proposed. This is a completely novel model, and it is not like the previous models that have been used to study the stabilizer bar. The results of this research show that if the vehicle uses the hydraulic stabilizer bar controlled by a two-input Fuzzy controller, the values of the roll angle and roll index have been reduced. As a result, stability and safety have been significantly improved. The achievements of this research will be the basis for the development of other intelligent control methods in the future.
... However, this model has the disadvantage, which is not being able to evaluate the entire roll motion properties and does not consider the role of the lateral inertial force affecting this phenomenon. In the studies of [10,11], a more advanced model has been proposed including a half vertical car model and a bicycle longitudinal motion. The authors then used PID, LQG control methods to design the controllers for the AARB system. ...
This paper discusses the role of the active anti-roll bar system in order to enhance the roll stability of cars, thereby preventing rollover phenomenon in high speed emergency situations. First, an integrated full car model is proposed including the longitudinal, lateral, vertical motions and an electro-hydraulic actuator model. In this full car model, the control signal being the input current which is supplied to the actuators to create the active torques to improve the car's stability. This is the most general model in theory to study this active roll control system and is a big step forward compared to previous related studies. The optimal LQR control method has then been used to synthesize the controller based on the integrated model with 26 degrees of freedom. The criteria used to assess the vehicle roll stability are the sprung mass roll angle and the interactive force between the wheels and the road surface. The simulation results in the frequency domain and the validation in the time domain through the CarSim software's nonlinear car model clearly show the advantages of this active system with an optimal LQR controller in preventing vehicle rollover.
... CNF has strong capability in achieving a fast yaw rate tracking performance with minimal overshoot [3][4][5][6][7]. Other than AFS, the CNF also performed well in active anti-roll bar and wheel synchronisation systems [8][9][10][11][12][13]. However, CNF is not robust with regard to disturbances. ...
Yaw control is a part of an Active Front Steering (AFS) system, which is used to improve vehicle manoeuvrability. Previously, it has been reported that the yaw rate tracking performance of a linear Steer-by-Wire (SBW) vehicle equipped with a Composite Nonlinear Feedback (CNF) controller and a Disturbance Observer (DOB) is robust with respect to side wind disturbance effects. This paper presents further investigation regarding the robustness of the combination between a CNF and a DOB in a nonlinear environment through a developed 7-DOF nonlinear SBW vehicle. Moreover, in contrast to previous studies, this paper also contributes in presenting the validation works of the proposed control system in a real-time situation using a Hardware-in-Loop (HIL) platform. Simulation and validation results show that the CNF and DOB managed to reduce the influence of the side wind disturbance in nonlinearities.
... CNF has strong capability in achieving a fast yaw rate tracking performance with minimal overshoot [3][4][5][6][7]. Other than AFS, the CNF also performed well in active anti-roll bar and wheel synchronisation systems [8][9][10][11][12][13]. However, CNF is not robust with regard to disturbances. ...
ABSTRACT
Yaw control is a part of an Active Front Steering (AFS) system, which is used to improve vehicle manoeuvrability. Previously, it has been reported that the yaw rate tracking performance of a linear Steer-by-Wire (SBW) vehicle equipped with a Composite Nonlinear Feedback (CNF) controller and a Disturbance Observer (DOB) is robust with respect to side wind disturbance effects. This paper presents further investigation regarding the robustness of the combination between a CNF and a DOB in a nonlinear environment through a developed 7-DOF nonlinear SBW vehicle. Moreover, in contrast to previous studies, this paper also contributes in presenting the validation works of the proposed control system in a real-time situation using a Hardware-in-Loop (HIL) platform. Simulation and validation results show that the CNF and DOB managed to reduce the influence of the side wind disturbance in nonlinearities.
... Therefore, it creates moments against lateral acceleration. By reducing roll motion, the driving safety and stability will be improved [16]. However, the passive anti-roll bar has some drawbacks. ...
... During straight-line driving, vertical forces induced by road irregularities will be transferred from side to side. This eliminates the advantage of independent suspension system and reduces the ride comfort [15,16]. ...
... Furthermore, it reduces the "copying effect" of the vehicle by decoupling the two sides of the anti-roll bar and allowing the wheels on each side to bounce independently. This reduces the roll of the vehicle caused by the bump and increases ride comfort [5,15,16]. In addition, there are distinctions that can be made to AARB systems according to the type and location of actuator used [17]. ...
The active anti-roll bar (AARB) system in vehicles has recently become one of the research hotspots in the field of vehicle technology to improve the vehicle’s active safety. In most off-road vehicles, high ground clearance is required while keeping all wheels in contact with the ground in order to improve traction and maintain load distribution among the wheels. A problem however arises in some types of the off-road vehicles when the vehicle is operated at high speeds on smooth roads. In such condition, the combination of the vehicle’s center of gravity position, large suspension stroke, and soft spring construction creates a stability problem, which could make the vehicle liable to rollover. This article analyzes a comparison of stability performance between passive and active anti-roll bar systems to improve rolling resistance. For active systems, two control strategies will be investigated. The conventional Proportional Integral Derivative (PID) controller is firstly investigated and taken as a reference. Then a modified Proportional Integral Derivative (PID) controller with fuzzy technology is developed and compared to the reference one. A full-car model of 14-degrees of freedom (DOF) associated with the Pacejka tire model is used for the analysis and the simulation of the rollover prevention. The performances of the control strategies are compared and simulated using the MATLAB/Simulink program through a series of stability tests prepared by the National Highway Traffic Safety.
... The active brake system is activated when the wheel reaches nearly the limit of lift-off (see Gaspar et al. (2004)). In the third method, the active anti-roll bar is proposed by using a pair of hydraulic actuators (see Sampson and Cebon (2003); Gaspar et al. (2004), Zulkarnain et al. (2014)). Lateral acceleration makes vehicles with conventional passive suspension tilt out of corners. ...
... In Boada et al. (2007), a reinforcement learning algorithm using neural networks to improve the roll stability in a single unit heavy vehicle is proposed. In Zulkarnain et al. (2014), a LQG CNF fusion control strategy for an active anti-roll bar system is used to improve vehicle ride and handling. The semi-active anti-roll system is also used, with a high and low roll stiffness (see Stone and Cebon (2010)). ...
Rollover is a very serious problem for heavy vehicle safety, which can result in large financial and environmental consequences. In order to improve roll stability, most of modern heavy vehicles are equipped with passive anti-roll bars to reduce roll motion during cornering or riding on uneven roads. This paper introduces the active anti-roll bars designed by finding an optimal control based on a linear quadratic regulator (LQR). Four electronic servo-valve hydraulic dampers are modelled and applied on a yaw-roll model of a single unit heavy vehicle. The control signal is the current entering the electronic servo-valve and the output of this actuator is the damping force generated by the hydraulic damper. Simulation results are obtained and compared in three different situations: without anti-roll bars, with passive anti-roll bars and with active anti-roll bars. It is shown that the use of two active (front and rear) anti-roll bars drastically improves the behaviour of the single unit heavy vehicle.
