Table of Content
ACKNOWLEDGMENT ..................................................................................................... 4
ABSTRACT.......................................................................................................................... 5
LIST OF FIGURES............................................................................................................. 8
LIST OF TABLES............................................................................................................. 10
1 INTRODUCTION........................................................................................................ 11
2 SIMILAR ACTIVITIES ABOUT FDSC................................................................... 13
2.1 DRIVER ASSISTANCE SYSTEM CATEGORIZATION...................................................... 13
2.2 DRIVER ASSISTANCE SYSTEMS REVIEW .................................................................... 16
2.2.1 Dynamic Stability Control (DSC) ............................................................... 16
2.2.2 Anti-lock brake system (ABS) ..................................................................... 16
2.2.3 Dynamic Brake Control (DBC) .................................................................. 17
2.2.4 Cornering Brake Control (CBC) ................................................................. 17
2.2.5 Automatic Stability Control (ASC) .............................................................. 17
2.2.6 Dynamic Traction Control (DTC) ............................................................... 17
2.2.7 Automatic Differential Brake (ADB) ............................................................ 18
2.2.8 Lane Departure Warning (LDW) ................................................................ 18
2.3 INDUSTRIAL DSC SYSTEMS ...................................................................................... 19
2.4 ESP SYSTEM OPERATION .......................................................................................... 20
3 VEHICLE DYNAMICS.............................................................................................. 22
3.1 THE SPRING-MASS-DAMPER (SMD) SYSTEM ............................................................ 22
3.2 BRAKING AND CORNERING....................................................................................... 25
3.3 STEERING AND TIRE INFLUENCES .............................................................................. 26
4 CONTROLLABLE SUSPENSION SYSTEM .......................................................... 30
4.1 SPORTINESS VERSUS COMFORT .............................................................................. 30
4.2 ELECTRONIC CONTROLLER OF DAMPERS.................................................................. 30
4.3 AIR SUSPENSION CONTROLLERS................................................................................ 31
4.4 DYNAMIC DRIVE ANTI- SWAY .................................................................................. 31
4.5 THE SUSPENSION MODEL IN THE SIMULINK ............................................................... 32
5 CONTROLLABLE BRAKES SYSTEM................................................................... 36
5.1 BRAKE BY WIRE SYSTEM ARCHITECTURE ................................................................ 36
6 CONTROLLABLE STEERING SYSTEM............................................................... 40
6.1 FEEDBACK FORCE ..................................................................................................... 42
6.2 ACTIVE STEERING ..................................................................................................... 43
6.3 UNDERSTEERING AND OVERSTEERING ..................................................................... 47
6.4 LATERAL STABILITY AND LATERAL FORCES ............................................................ 48
7 FUNDAMENTALS OF FDSC.................................................................................... 54
7.1 PHYSICS OF DRIVING ............................................................................................ 54
7.2 CENTRIFUGAL FORCES.............................................................................................. 55
7.3 KAMM’S CIRCLE .................................................................................................57
7.4 STABILITY AND CENTER OF GRAVITY....................................................................... 58
7.5 CALCULATION OF CG ........................................................................................... 61
Fuzzy Dynamic Stability Control
7
8 FUZZY LOGIC-BASED ANALYZER ..................................................................... 64
8.1 BACKGROUND .......................................................................................................... 64
8.2 FUZZY LOGIC SYSTEMS: PRINCIPLES OF OPERATION................................................ 65
8.2.1 Fuzzifier ......................................................................................................... 67
8.2.2 Inference Engine and Rule Base..................................................................... 68
8.2.3 Defuzzifier ...................................................................................................... 71
8.3 FUZZY ANALYZER FOR FDSC ................................................................................ 73
8.4 FUZZY ANALYZER FOR STEERING SYSTEM................................................................. 76
9 FDSC IN INDUSTRIAL POINTS OF VIEW........................................................... 79
9.1 CAN PROTOCOL ....................................................................................................... 79
9.2 TECHNICAL EXPLAIN................................................................................................. 87
9.2.1 Sensors .................................................................................................. 87
9.2.2 Central Control Unit ................................................................................ 87
9.2.3 Actuators ............................................................................................... 88
9.3 FINANCIAL JUSTIFICATION........................................................................................ 88
9.4 FEASIBILITY ............................................................................................................ 89
10 SIMULATION RESULTS.......................................................................................... 90
10.1 CASE 1: SIMULATION RESULTS WITHOUT USING ANY ACTUATOR:............................. 92
10.2 CASE 2: SIMULATION RESULTS WHILE ONLY SUSPENSION ACTUATORS ARE
ACTIVATED: ..........95
10.3 SIMULATION RESULTS WHILE ONLY BRAKES ACTUATORS ARE ACTIVATED:............. 98
10.4 CASE 4: SIMULATION RESULTS WHILE ONLY STEERING ACTUATORS ARE ACTIVATED:.
...........101
10.5 CASE 5: SIMULATION RESULTS WHILE ALL ACTUATORS ARE ACTIVATED: .............. 104
11 CONCLUSION ........................................................................................................ 108
APPENDIX A................................................................................................................... 109
APPENDIX B ................................................................................................................... 116
REFERENCES................................................................................................................. 120
کنترل پایداری دینامیکی خودرو به روش فازی Vehicle Fuzzy Dynamic Stability Control