Vehicle Roll Evaluation Index Based on ZMP Position and Roll Control Research

doi:10.3901/JME.2023.01.175

Abstract

Abstract: In order to facilitate the judgment of the driving state and stability of the vehicle, and to evaluate its effect in the early stage of system development, it is necessary to have a more accurate evaluation index to judge the stability of the vehicle. Therefore, the concept of zero moment point (ZMP) introduced into the vehicle's roll evaluation system, and the roll tendency of the vehicle is predicted by deriving the rigid vehicle model and the vehicle roll model zero moment point, the roll index y_zmp is obtained and its roll indicator s is calculated, the correctness and effectiveness of the index are proved by comparison with other current roll indicators. Then, taking a 19-seat commercial vehicle as an example, the vehicle model was established, The robust control method and fuzzy PID control method are used to adjust the roll stiffness of the semi-active stabilizer bar in real time. Finally, the effectiveness of the two control methods is verified by the joint simulation of Trucksim and Simulink. To compare and judge the improvement effect of semi-active stabilizer bar and passive stabilizer bar on the roll motion by using indicators. According to the simulation results, the semi-active stabilizer bar has a significant reduction in all roll parameters compared to the passive stabilizer bar. Compared with the semi-active stabilizer bar controlled by fuzzy PID, it is more robustly controlled. The semi-active stabilizer bar has a certain degree of reduction in all roll parameters. Among them, the roll angle has dropped by 14.7%, the lateral acceleration has dropped by 21.3%, the yaw rate has dropped by 25.6%, and the center of mass slip angle has dropped by 23.4%. Compared with fuzzy PID control, its control effect is better, and the vehicle roll coefficient is also reduced from 0.721 to 0.645, which is similar to the degree of reduction of other parameters. It also shows the effectiveness of the proposed roll evaluation index from another aspect.

Key words: ZMP, roll evaluation, semi-active stabilizer, robust control, joint simulation

CLC Number:

U463.33

PAN Gongyu, DING Cong, LI Yun. Vehicle Roll Evaluation Index Based on ZMP Position and Roll Control Research[J]. Journal of Mechanical Engineering, 2023, 59(1): 175-187.

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