| Popis: |
This paper presents results of an initial investigation into models and control strategies suitable to predict and prevent vehicle rollover due to untripped driving maneuvers. Outside of industry, the study of vehicle rollover inclusive of experimental validation, model-based predictive algorithms, and practical controller design is limited. The researcher interested in initiating study on rollover dynamics and control is left with the challenging task of identifying suitable vehicle models from the literature, comparing these models in their ability to match experimental results, and determining suitable parameters for the models and controller gains. This paper presents results that address these issues via comparisons between simulation and experimental results. For vehicles that are deemed to be susceptible to wheel-lift, various open-loop and closed-loop control strategies are implemented in simulation. The primary assumption in their implementation is that the vehicle in question is equipped with a steer-by-wire system. |
