Title: Development of a direct yaw moment control strategy for an articulated bus equipped with on-board electric motors

Authors: Kerem Bayar

Addresses: Brake and Articulation System Test and Validation Department, MAN Türkiye, Saracalar Mah., Özal Blv., No. 212, Akyurt, 06750, Ankara, Turkey

Abstract: Considering the damping moment associated with the articulation joint of articulated buses, the degree of actuation freedom increases, for stabilising the vehicle during harsh manoeuvres on slippery surfaces. With this background, this study aims at developing a direct yaw moment control strategy for an articulated bus, equipped with on board electric motors at middle and rear axles, that is capable of braking/accelerating the left and right wheels independently. The yaw moment control problem is treated as a control allocation problem, where the corrective yaw moment action for front and rear compartments, is distributed onto individual wheel braking/acceleration and articulation joint damping moment. Through lane change and snaking manoeuvre simulation results, the effectiveness of the proposed controller is shown, in terms of tracking the desired front and rear compartment yaw rates. This is achieved without sacrificing vehicle sideslip and articulation angles.

Keywords: direct yaw moment control; articulated bus; control allocation; yaw rate; articulation angle; vehicle sideslip angle; on board electric motor.

DOI: 10.1504/IJHVS.2025.144164

International Journal of Heavy Vehicle Systems, 2025 Vol.32 No.1, pp.55 - 79

Received: 28 Dec 2023
Accepted: 23 Jan 2024
Published online: 30 Jan 2025 *

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