Vehicle Motion Control Device for Phase Shift Compensation
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Solution Overview
Problem
Large-sized commercial vehicles with great yaw and roll inertia moments experience phase shifts between state quantities, leading to instability during yawing and rolling motions, which existing motion control devices struggle to compensate effectively.
Innovation Solution
A motion control device for vehicles that includes a braking system, steering angular velocity obtaining means, maximum steering angular velocity calculation, reference turning state quantity determination, and control means to adjust brake torque based on actual and estimated turning state quantities, compensating for phase differences and maintaining stability by using reference turning state quantities calculated from maximum steering angular velocity.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If plural state quantities are used for restricting the roll increasing tendency in large-sized commercial vehicles, then the vehicle motion can be controlled, but a phase shift between the state quantities occurs leading to reduced control effectiveness
Solution Approach 1:
The invention calculates a reference turning state quantity in advance based on steering angular velocity before the actual turning state quantity becomes available. This preliminary calculation compensates for the phase shift that occurs in large-sized commercial vehicles with great yaw and roll inertia moments, allowing the control system to act proactively rather than reactively to maintain vehicle stability.
2Quantity of substance
If vehicle size is increased to meet cargo requirements, then cargo capacity is improved, but yaw and roll inertia moments increase causing phase shifts and stability issues
Solution Approach 1:
The invention changes the control parameter from directly using actual turning state quantities to using a reference turning state quantity calculated from steering angular velocity. This parameter transformation allows the control system to compensate for the effects of increased yaw and roll inertia moments in larger vehicles, maintaining stability despite the increased mass and dimensions required for cargo capacity.
Data Source
AI summary
A motion control device for a vehicle having a braking means for applying a brake toque to a wheel of the vehicle and maintaining a traveling stability of the vehicle by controlling the braking means, the motion control for the vehicle, includes a steering angular velocity obtaining means for obtaining a steering angular velocity of the vehicle, a maximum steering angular velocity calculating means for calculating a maximum steering angular velocity on the basis of the steering angular velocity, a determining means for determining a reference turning state quantity on the basis of the maximum steering angular velocity, an actual turning state quantity obtaining means for obtaining an actual turning state quantity of the vehicle, and a control means for controlling the brake toque on the basis of the reference turning state quantity and the actual turning state quantity.