ENHANCEMENT OF ARTICULATED HEAVY VEHICLE STABILITY BY OPTIMAL LINEAR QUADRATIC REGULATOR (LQR) CONTROLLER OF ROLL-YAW DYNAMICS

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SHARIATMADAR S.M.; MANTEGHI M.; TAJDARI M.

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Journal Paper

Paper Information

Journal: Automotive Science and Engineering Year:2012 | Volume:2 | Issue:2 Page(s): 124-131

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Information Journal Paper

Title

ENHANCEMENT OF ARTICULATED HEAVY VEHICLE STABILITY BY OPTIMAL LINEAR QUADRATIC REGULATOR (LQR) CONTROLLER OF ROLL-YAW DYNAMICS

Author(s)

SHARIATMADAR S.M. | MANTEGHI M. | TAJDARI M. | Issue Writer Certificate

Keywords

VEHICLE DYNAMICS

LQR CONTROLLER

OPTIMIZATION

STABILITY

YAW MOMENT CONTROL

Abstract

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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APA: Copy

SHARIATMADAR, S.M., MANTEGHI, M., & TAJDARI, M.. (2012). ENHANCEMENT OF ARTICULATED HEAVY VEHICLE STABILITY BY OPTIMAL LINEAR QUADRATIC REGULATOR (LQR) CONTROLLER OF ROLL-YAW DYNAMICS. AUTOMOTIVE SCIENCE AND ENGINEERING (INTERNATIONAL JOURNAL OF AUTOMOTIVE ENGINEERING), 2(2), 124-131. SID. https://sid.ir/paper/321712/en

Vancouver: Copy

SHARIATMADAR S.M., MANTEGHI M., TAJDARI M.. ENHANCEMENT OF ARTICULATED HEAVY VEHICLE STABILITY BY OPTIMAL LINEAR QUADRATIC REGULATOR (LQR) CONTROLLER OF ROLL-YAW DYNAMICS. AUTOMOTIVE SCIENCE AND ENGINEERING (INTERNATIONAL JOURNAL OF AUTOMOTIVE ENGINEERING)[Internet]. 2012;2(2):124-131. Available from: https://sid.ir/paper/321712/en

IEEE: Copy

S.M. SHARIATMADAR, M. MANTEGHI, and M. TAJDARI, “ENHANCEMENT OF ARTICULATED HEAVY VEHICLE STABILITY BY OPTIMAL LINEAR QUADRATIC REGULATOR (LQR) CONTROLLER OF ROLL-YAW DYNAMICS,” AUTOMOTIVE SCIENCE AND ENGINEERING (INTERNATIONAL JOURNAL OF AUTOMOTIVE ENGINEERING), vol. 2, no. 2, pp. 124–131, 2012, [Online]. Available: https://sid.ir/paper/321712/en

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