Title: Optimisation of yaw rejection control for armoured vehicle using Taguchi method

Authors: Zulkiffli Abd Kadir; Hairi Zamzuri; Khisbullah Hudha; Saiful Amri Mazlan; Noor Hafizah Amer; Muhamad Murrad

Addresses: Faculty of Engineering, Department of Mechanical Engineering, Universiti Pertahanan Nasional Malaysia, Kem Sungai Besi, 57000, Kuala Lumpur, Malaysia; Malaysia-Japan International Institute of Technology, Universiti Teknologi Malaysia, 54100 Jalan Semarak, Kuala Lumpur, Malaysia ' Malaysia-Japan International Institute of Technology, Universiti Teknologi Malaysia, 54100 Jalan Semarak, Kuala Lumpur, Malaysia ' Faculty of Engineering, Department of Mechanical Engineering, Universiti Pertahanan Nasional Malaysia, Kem Sungai Besi, 57000, Kuala Lumpur, Malaysia ' Malaysia-Japan International Institute of Technology, Universiti Teknologi Malaysia, 54100 Jalan Semarak, Kuala Lumpur, Malaysia ' Faculty of Engineering, Department of Mechanical Engineering, Universiti Pertahanan Nasional Malaysia, Kem Sungai Besi, 57000, Kuala Lumpur, Malaysia ' Faculty of Engineering, Department of Mechanical Engineering, Universiti Pertahanan Nasional Malaysia, Kem Sungai Besi, 57000, Kuala Lumpur, Malaysia

Abstract: Commonly, an armoured vehicle will lose its dynamic stability during firing while moving. This is owing to the resulting impulse force that acts at the centre of a weapon platform which produces the yaw moment at the centre of gravity (CG) of the armoured vehicle. Therefore, to improve the stability, a yaw rejection control is developed for the armoured vehicle using active front steering. The proposed control strategy is developed on a validated armoured vehicle model which consists of yaw rate feedback control using PID controller and lateral force rejection control using PI controller. The PID and PI controllers are then optimised using an optimisation technique known as Taguchi method. This method is also used to identify the most dominant controller feedback of the control strategy. The optimisation result shows that the most dominant feedback of the control strategy is obtained from the lateral force rejection control with PI controller.

Keywords: armoured vehicles; vehicle modelling; active front steering; AFS; yaw rejection control; Taguchi methods; optimisation; dynamic stability; vehicle stability; heavy vehicles; feedback control; PID controllers; lateral force rejection control; PI controllers.

DOI: 10.1504/IJHVS.2016.074627

International Journal of Heavy Vehicle Systems, 2016 Vol.23 No.1, pp.60 - 80

Available online: 08 Feb 2016 *

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