Research on anti-roll control strategy of commercial vehicle ESC based on LPV/H∞ gain scheduling

Abstract

There is a contradiction between improving the path tracking effect and anti-roll in high speed turning or emergency lane change conditions. In order to solve this problem, an electronic stability controller (ESC) anti-roll control strategy for commercial vehicles based on linear parameter varying/H-infinity (LPV/H∞) gain scheduling is designed. Firstly, the three-degree-of-freedom (3-DOF) vehicle model is combined with road information to obtain the vehicle-road control model, and the scheduling factor is introduced as a variable parameter to coordinate the weight between steering and braking. Second, for the scheduling factor in the control model, lateral load transfer ratio (LTR) is used as the basis for designing the tilt risk factor, and the scheduling factor is designed by the risk factor. Thirdly, the LPV/H∞ controller is obtained by linear matrix inequality (LMI) method, which ensures the system’s robustness and stability. Finally, the simulation test based on Simulink/TruckSim and hard-ware-in-the-loop (HIL) test were carried out. Compared with the LMI control, the front wheel angle, lateral displacement, slip angle, lateral acceleration and yaw velocity are reduced by ∼20%, 37%, 10%, 24%, and 17%, respectively. The HIL test results show that the controller designed in this paper achieves the weight distribution between steering and braking. While ensuring the robustness and stability of the system, it resolves the conflict between path tracking and anti-roll performance indicators.