Modelling and validation of a Control Algorithm for Yaw stability and Body Slip Control using PID and fuzzy Logic based controllers 2019-28-0054
Advanced driver-assistance system (ADAS) is becoming an essential part of modern commercial vehicle. At any instance Vehicle handling and stability is determined by the yaw rate and body slip of the vehicle. Active steering control with Electronic brake force distribution system can help in precise control of body slip and yaw control. In most of the existing research work on active steering, Control algorithms are based on single track vehicle (2 DOF) with a linear tire model for calculating the desired parameters. But these simplified model fails at high speed, tight corners and in case of combined tire slip as it neglect parameters like the non-linearity of tire model, Ackermann of the steering system and effect of two track on the stability of vehicle. The aim of this research work is to fill the existing research gap by incorporating all the mentioned drawback in a new control algorithm. A Full vehicle 14 DOF and 6 DOF model with a nonlinear tire model based on Pacejka’s “Magic tire formula” was made in Simulink, the two track 6 DOF model was used to calculate the desired parameters, the 14 DOF model was controlled using PID and Fuzzy logic based controller, Performance of these two controllers are also compared in this study. The PID based controller showed an approximate improvement of 5% in Yaw rate while the fuzzy logic based controller showed a much better performance of 9% in yaw rate with significant decrease in time lag. The proposed control algorithms were validated through coupled simulation of CarSIm and Simulink in real time.