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Slip-Based Holistic Corner Control

[+] Author Affiliations
Valery Pylypchuk

UTech, LLC, West Bloomfield, MI

Shih-Ken Chen, Nikolai Moshchuk, Bakhtiar Litkouhi

General Motors LLC, Warren, MI

Paper No. IMECE2011-64882, pp. 337-342; 6 pages
doi:10.1115/IMECE2011-64882
From:
  • ASME 2011 International Mechanical Engineering Congress and Exposition
  • Volume 9: Transportation Systems; Safety Engineering, Risk Analysis and Reliability Methods; Applied Stochastic Optimization, Uncertainty and Probability
  • Denver, Colorado, USA, November 11–17, 2011
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-5495-2
  • Copyright © 2011 by ASME and General Motors

abstract

This paper describes an analytical methodology and related algorithms for controlling vehicle tire forces. The purpose of control is to provide a driver with a normal driving feel and keep the vehicle on a target path even under poor road conditions. All the control variables are calculated in real time by minimizing the error between actual and target CG forces and moments. Such a real time optimization is possible due to the availability of analytical solutions for the tire force adjustments derived in the matrix form. A key ingredient of the approach is the idea of constructing weight matrices dependent upon tire states after the optimal linear solution is obtained. When a tire reserve approaches its upper limit, the corresponding weight element increases exponentially. As a result, this stability element dominates the gradient of the target function regardless of CG force error magnitudes. Once the tire state becomes normal then the CG force error correction again becomes the dominant component in the control solutions.

Copyright © 2011 by ASME and General Motors

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