ANALYSIS OF VEHICLE HANDLING USING A SIMPLE TRACK MODEL OF AUTOMOBILE Abdussalam Ali Ahmed Mechanical Engineering Department Bani Waleed University Bani Waleed, Libya abd112890@yahoo.com Mustafa Emheisen Electrical Engineering department Bani Waleed University Bani Waleed, Libya mustafaalwafi@yahoo.com Abstract— This paper obtains a simplified modelling and simulation for investigation of the behavior of vehicle handling and stability using the automobile single track model. Two control technologies were used in this paper which are the traditional PID control and Fuzzy PID control. To reach the desired results of this paper, full control system must construct which contains linear single-track model of vehicle, nonlinear single-track model, and control method. One driving condition is performed which is the steering input, the steering input in this work is set as step steering angle and a lane change maneuver. The simulation results of this paper show that, the constructed control systems for vehicle models used were successful to achieve better vehicle handling and stability. Keywords— Single track model, Vehicle stability, PID controller, Fuzzy PID control. I. INTRODUCTION Vehicles are becoming more frequently performance throughout the years, it is obvious that their design procedure require a better knowledge of their performance and behavior. One of the important ways to get that knowledge how to use the mathematical models, which describe the vehicle behavior when given relevant parameters. Knowing of these parameters is very important to run the mathematical models, and to get the expected results [1]. The handling of motored vehicles is one of most important factors because of roads safety. There are a quite variety methods for analyses management of performance, such as objective measurements or analysis of vehicle behavior due to a driving maneuver. these methods are effective to demonstrating an existing vehicle, but simultaneously they are not appropriate in the first part of designing stage of vehicles development, when there is no actual vehicle to run. Furthermore, the earlier potential issues of safety are discovered, the funds and lower that are subsequently needed to redress them. A procedure which is able to give a detailed analysis of the handling characteristics in the design stage of a new vehicle is the mathematical model. Moreover, the diagnosis of the potential handling trouble using simulations requires less time. In the past, many differences of a handling models have been obtained in the literature, with an emphasis being mostly put on improvements of the vehicle single-track model, discover of `new factors that affecting driving stability. This paper presents a mathematical model of vehicle which includes a small number of the parameters using simple track model of vehicle [2]. In this article, the PID controller and fuzzy PID controller are introduced for vehicle yaw rate control. The non-linear track model is used as a vehicle plant and linearization of nonlinear track model is utilized for the controller design. To evaluate the controllers performance, the maneuvers vehicle handling test are performed in MATLAB simulations. In vehicle dynamic studies, the classical single track model as shown in Fig 1 is prominently used for yaw stability control analysis. Fig. 1. Single track model (bicycle model). The single track model uses for controllers design and the analysis of yaw stability control prominently. According to some assumptions, linearize the actual model of the vehicle is investigated, these assumptions are: the vehicle moves on flat road (planar motion), the tires forces operate in a linear region, and the left and the right tires at the rear and front axle are lumped together. TABLE I NOMRNCLATURE USED. C.G. Center of gravity Inertial frame of reference V Vehicle velocity at c.g. Chassis fixed frame of reference Vehicle side slip angle Velocity at center of front tire Distance between front axle and c.g Velocity at center of rear tire Distance between rear axle and c.g Front tire side slip angle Front tire lateral force Rear tire side slip angle angle Rear tire lateral force Front tire velocity angle with X axis Front tire steering angle Rear tire velocity angle with X axis Rear tire steering angle ψ Yaw angle 2019 19th international conference on Sciences and Techniques of Automatic control & computer engineering (STA), Sousse, Tunisia, March 24-26, 2019 STA2019_Paper_131_CEV 978-1-7281-1291-6/19/$31.00 ©2019 IEEE 140