Title: Internal-model control of vehicle chassis based on wavelet-network dynamic inversion method

Authors: Guang Xia; Yangying Hua; Xiwen Tang; Linfeng Zhao; Wuwei Chen

Addresses: School of Automotive and Traffic Engineering, Hefei University of Technology, Hefei, Anhui 230009, China ' Institute of Automotive Engineering, Hefei University of Technology, Hefei, Anhui 230009, China ' School of Radar Confrontation, National University of Defense Technology, Hefei, Anhui 230037, China ' School of Automotive and Traffic Engineering, Hefei University of Technology, Hefei, Anhui 230039, China ' School of Automotive and Traffic Engineering, Hefei University of Technology, Hefei, Anhui 230039, China

Abstract: An internal-model control strategy of vehicle chassis system is proposed based on wavelet-network dynamic inversion method, to eliminate the coupling effect among the chassis subsystems. By analysing the chassis system reversibility, the paired relationship of the input and output variables is determined. Then, a wavelet-network dynamic inversion model of vehicle chassis system is obtained and connected in series with the original system. The chassis system is decoupled into three independent pseudo-linear systems, and decoupling between the control loops of vehicle chassis system is realised. An internal-model controller is designed to improve the system response. Further, a simulation and a driver-in-loop test using LabVIEW PXI and veDYNA are conducted to verify the control strategy efficacy. The results show that the proposed control strategy can eliminate the interference and coupling between the active front-wheel steering, direct yaw-moment control, and active suspension system, and improve the vehicle handling and status tracking stability.

Keywords: chassis system; wavelet network; dynamic inversion method; internal model control; active front-wheel steering; direct yaw-moment control; active suspension system.

DOI: 10.1504/IJVAS.2018.10017221

International Journal of Vehicle Autonomous Systems, 2018 Vol.14 No.2, pp.170 - 195

Received: 18 Jul 2017
Accepted: 29 Jul 2018

Published online: 02 Nov 2018 *

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