On Steering Control of Commercial Three-Axle Vehicle

2008 ◽  
Vol 130 (2) ◽  
Author(s):  
Qiuzhen Qu ◽  
Jean W. Zu
Keyword(s):  
Reference Model ◽  
Variable Structure ◽  
Limited Range ◽  
Steering System ◽  
Design Parameters ◽  
Steering Control ◽  
Vehicle Model ◽  
Loop Control ◽  
Nominal Model ◽  
Steering Characteristics

The steering control laws of commercial three-axle vehicle are studied based on the closed-loop control model of the driver-vehicle-road. The steering characteristics of the three-axle vehicle can be improved through adding the steering of rear wheels. For a series of combined roads defined as standard roads where the vehicle is tested, a new proposal to optimize the design parameters of the steering system is presented. The cornering stiffness of front, middle and rear wheels and outer disturbance are considered as uncertain parameters varying over a limited range. A new controller of model-following variable structure is constructed and used for controlling front and rear wheels steering of the actual vehicle, so that the steering characteristics of the uncertain vehicle model and nonlinear vehicle model can follow the characteristics of the reference model (nominal model), namely, the vehicle can keep the same steering characteristics as the nominal model on the different roads. Simulation results have demonstrated that the proposed method is reasonable and practicable.

A Model of Driver Steering Control Behavior for Use in Assessing Vehicle Handling Qualities

1993 ◽  
Vol 115 (3) ◽  
pp. 456-464 ◽  
Author(s):  
A. Modjtahedzadeh ◽  
R. A. Hess
Keyword(s):  
Steering System ◽  
Manual Control ◽  
Theoretic Model ◽  
Steering Control ◽  
Vehicle Model ◽  
Vehicle Handling ◽  
Analytical Technique ◽  
Handling Qualities ◽  
Control Behavior ◽  
Lane Keeping

A control theoretic model of driver steering control behavior is presented. The resulting model is shown capable of producing driver/vehicle steering responses which compare favorably with those obtained from driver simulation. The model is simple enough to be used by engineers who may not be manual control specialists. The model contains both preview and compensatory steering dynamics. An analytical technique for vehicle handling qualities assessment is briefly discussed. Driver/vehicle responses from two driving tasks evaluated in a driver simulator are used to evaluate the overall validity of the driver/vehicle model. Finally, the model is exercised in predictive fashion in the computer simulation of a lane keeping task on a curving roadway where the simulated vehicle possessed one of three different steering systems: a conventional two-wheel steering system and a pair of four-wheel steering systems.

Research on Steering Characteristics of Multi-Axles Steering Vehicle

2011 ◽  
Vol 97-98 ◽  
pp. 685-689 ◽  
Author(s):  
Yun Chao Wang ◽  
Er Zhong An ◽  
Mei Zhou
Keyword(s):  
Theoretical Basis ◽  
Steering System ◽  
Physical Parameters ◽  
Analysis Method ◽  
Vehicle Model ◽  
Lagrangian Analysis ◽  
Power Steering System ◽  
Power Steering ◽  
Adams Software ◽  
Steering Characteristics

A 3-DOF multi-axle steering vehicle model were established using Lagrangian analysis method, including steering system stiffness, cornering stiffness and power steering system. The vehicle model is verified correctly and universally by using front wheels steering vehicle model. Based on the vehicle model, the steady circling parameters of multi-axle steering vehicle are presented. The effects of vehicle physical parameters on the steering characteristics of multi-axle steering vehicle are analyzed. To further demonstrate the correctness of multi-axle steering vehicle model, a three-axle steering vehicle model were built by ADAMS software. It is a theoretical basis for the design of multi-axle steering vehicle and the evaluation of steering characteristics.

scholarly journals Quantification of Road Vehicle Handling Quality Using a Compensatory Steering Controller

2017 ◽  
Vol 139 (3) ◽  
Author(s):  
Giovanni Braghieri ◽  
Alexander Haslam ◽  
Michalis Sideris ◽  
Julian Timings ◽  
David Cole
Keyword(s):  
Degrees Of Freedom ◽  
Driving Simulator ◽  
Center Of Mass ◽  
Subjective Ratings ◽  
Steering Control ◽  
Vehicle Model ◽  
Loop Control ◽  
Compensatory Control ◽  
Random Disturbances ◽  
Nonlinear Vehicle Model

Criteria for stability and controllability of road vehicles are briefly reviewed, and it is argued that there is a need for criteria that might better relate to subjective ratings by drivers. The variance of a driver's closed-loop control action against random disturbances acting on the vehicle is proposed as a realistic criterion that might relate to a driver's assessment of the vehicle. A nonlinear vehicle model with five degrees-of-freedom, negotiating a 90-deg bend in minimum time, is the basis for the theoretical study. The vehicle model is run with the center of mass in two different positions. It is found that the variance of the driver's compensatory steering control varies significantly through the maneuver, reaching a peak at about midcorner. The corresponding variance in the lateral path error of the vehicle also peaks at about the same position in the maneuver. Comparison of these variances to existing stability and controllability criteria shows that the variance of the compensatory control might reveal aspects of the handling behavior that the existing criteria do not. Recommendations for further work are given and include a program of driving simulator experiments or track tests to correlate the new criteria against subjective ratings by human drivers.

scholarly journals Differential Steering Control of Four-Wheel Independent-Drive Electric Vehicles

Energies ◽  
2018 ◽  
Vol 11 (11) ◽  
pp. 2892 ◽  
Author(s):  
Jie Tian ◽  
Jun Tong ◽  
Shi Luo
Keyword(s):  
Electric Vehicles ◽  
Dynamic Models ◽  
Reference Model ◽  
Sliding Mode ◽  
Variable Structure ◽  
Front Wheel ◽  
Steering Control ◽  
Sideslip Angle ◽  
Differential Steering ◽  
Skid Steering

This paper investigates the skid steering of four-wheel independent-drive (4WID) electric vehicles (EV) and a differential steering of a 4WID EV with a steer-by-wire (SBW) system in case of steering failure. The dynamic models of skid steering vehicle (SSV) and differential steering vehicle (DSV) are established and the traditional front-wheel steering vehicle with neutral steering characteristics is selected as the reference model. On this basis, sideslip angle observer and two different sliding mode variable structure controllers for SSV and DSV are designed respectively. Co-simulation results of CarSim and Simulink show that the designed controller for DSV not only controls the yaw rate and sideslip angle of DSV to track those of the reference model exactly, but also ensures the robustness of the controlled system compared with the designed controller for SSV. And the differential driving torque needed to realize the differential steering is much smaller than that for skid steering, which indicates the possibility of the differential steering in case of steering failure.

Analysis of Steering Control Strategy on Tractor's Hydraulic Steering By-Wire System

2014 ◽  
Vol 487 ◽  
pp. 630-634 ◽  
Author(s):  
Zhi Xiong Lu ◽  
Jiang Xue Chang ◽  
Xue Feng Bai ◽  
Yang Lu ◽  
Jun Gan Wu
Keyword(s):  
Control Algorithm ◽  
Fast Response ◽  
Steering System ◽  
Front Wheel ◽  
Bench Test ◽  
Steering Control ◽  
Loop Control ◽  
Response Characteristics ◽  
Hydraulic Steering ◽  
Wire System

The structure and working principle of the hydraulic steering by-wire system were described, and the optimal control algorithm of the system was obtained by the comparative analysis. Fuzzy control was chosen as the steering systems control algorithm, and it can realize closed-loop control of the front wheel corner. Matlab/Simulink was used for the simulation of the entire system. The simulation got the fuel tank displacements response curve, and verified the accuracy of the system design, which can provide a reference to the design of tractors steering system. Bench test was proposed to verify the accuracy of the system. The bench test results showed that the hydraulic steering by-wire controller can realize systems steering function well, and the system improved the control accuracy and fast response characteristics.

Robust steering assistance control for tracking large-curvature path considering uncertainties of driver’s steering behavior

2021 ◽  
pp. 095440702097682
Author(s):  
Jinxiang Wang ◽  
Zhenwu Fang ◽  
Mengmeng Dai ◽  
Guodong Yin ◽  
Jingjing Xia ◽  
...  
Keyword(s):  
Path Following ◽  
Vehicle Speed ◽  
Time Varying ◽  
Steering Control ◽  
Characteristic Parameters ◽  
Parameter Uncertainties ◽  
Large Curvature ◽  
Steering Characteristics ◽  
Dynamic Compensator ◽  
Takagi Sugeno

A human-machine shared steering control is presented in this paper for tracking large-curvature path, considering uncertainties of driver’s steering characteristics. A driver-vehicle-road (DVR) model is proposed in which uncertain characteristic parameters are defined to describe the human driver’s steering behaviors in tracking large-curvature path. Then the radial basis function neural network (RBF) is used to estimate parameters of different drivers’ characteristics and to obtain the boundaries of these parameters. Parameter uncertainties of the driver’s steering characteristics and time-varying vehicle speed of the DVR model are handled with the Takagi-Sugeno (T-S) fuzzy logic. And these parameter uncertainties are considered in the design of the shared steering controller. Then based on the DVR model, a T-S fuzzy full-order dynamic compensator with D-pole assignment is designed to assist driver’s steering for tracking path with large curvature. Simulation results show that the proposed controller can provide individual levels of steering assistance in path following according to driver’s proficiency, and can improve driving comfort significantly.

scholarly journals Synchronous Generator Rectification System Based on Double Closed-Loop Control of Backstepping and Sliding Mode Variable Structure

Electronics ◽  
2021 ◽  
Vol 10 (15) ◽  
pp. 1832
Author(s):  
Jinfeng Liu ◽  
Xin Qu ◽  
Herbert Ho-Ching Iu
Keyword(s):  
Closed Loop ◽  
Control Structure ◽  
Low Voltage ◽  
Sliding Mode ◽  
Variable Structure ◽  
Synchronous Generator ◽  
Closed Loop Control ◽  
High Current ◽  
Loop Control ◽  
Sliding Mode Variable Structure

Low-voltage and high-current direct current (DC) power supplies are essential for aerospace and shipping. However, its robustness and dynamic response need to be optimized further on some special occasions. In this paper, a novel rectification system platform is built with the low-voltage and high-current permanent magnet synchronous generator (PMSG), in which the DC voltage double closed-loop control system is constructed with the backstepping control method and the sliding mode variable structure (SMVS). In the active component control structure of this system, reasonable virtual control variables are set to obtain the overall structural control variable which satisfied the stability requirements of Lyapunov stability theory. Thus, the fast-tracking and the global adjustment of the system are realized and the robustness is improved. Since the reactive component control structure is simple and no subsystem has to be constructed, the SMVS is used to stabilize the system power factor. By building a simulation model and experimental platform of the 5 V/300 A rectification module based on the PMSG, it is verified that the power factor of the system can reach about 98.5%. When the load mutation occurs, the DC output achieves stability again within 0.02 s, and the system fluctuation rate does not exceed 2%.

Differential steering-based electric vehicle lateral dynamics control with rollover consideration

2019 ◽  
Vol 234 (3) ◽  
pp. 338-348
Author(s):  
Hui Jing ◽  
Rongrong Wang ◽  
Cong Li ◽  
Jinxiang Wang
Keyword(s):  
Electric Vehicles ◽  
Measurement Problem ◽  
Low Cost ◽  
Steering System ◽  
Front Wheel ◽  
Steering Control ◽  
Lateral Velocity ◽  
Lateral Dynamics ◽  
Vehicle Rollover ◽  
Differential Steering

This article investigates the differential steering-based schema to control the lateral and rollover motions of the in-wheel motor-driven electric vehicles. Generated from the different torque of the front two wheels, the differential steering control schema will be activated to function the driver’s request when the regular steering system is in failure, thus avoiding dangerous consequences for in-wheel motor electric vehicles. On the contrary, when the vehicle is approaching rollover, the torque difference between the front two wheels will be decreased rapidly, resulting in failure of differential steering. Then, the vehicle rollover characteristic is also considered in the control system to enhance the efficiency of the differential steering. In addition, to handle the low cost measurement problem of the reference of front wheel steering angle and the lateral velocity, an [Formula: see text] observer-based control schema is presented to regulate the vehicle stability and handling performance, simultaneously. Finally, the simulation is performed based on the CarSim–Simulink platform, and the results validate the effectiveness of the proposed control schema.

Methods of Discontinuous Control for the Autonomous Underwater Vehicles

2013 ◽  
Vol 278-280 ◽  
pp. 1473-1476
Author(s):  
Alexander Lebedev
Keyword(s):  
Reference Model ◽  
Sliding Mode ◽  
Autonomous Underwater Vehicles ◽  
Variable Structure ◽  
Underwater Vehicles ◽  
Adjustment Process ◽  
Centralized Control ◽  
Reciprocal Effect ◽  
Discontinuous Control ◽  
Adjustment System

New methods of the synthesis of multi-dimensional robust and adaptive control systems for the centralized control of the spatial motion of autonomous underwater vehicles (AUV) is developed in this paper, such as variable structure system (VSS) and self-adjustment system with reference model. The conditions of the sliding mode existence and the self-adjustment process stability with the presence of essential dynamic reciprocal effect between all control channels are obtained and strictly proved. The application of synthesized discontinuous control provides the high control quality at any variations of the object parameters within the given ranges.

Sign in / Sign up

Export Citation Format

Share Document