Vehicle Yaw Control Using an Active Front Steering System with Measurements of Lateral Tire Forces

2011 ◽  
Vol 23 (1) ◽  
pp. 83-93 ◽  
Author(s):  
Nobutaka Wada ◽  
◽  
Akihiro Takahashi ◽  
Masami Saeki ◽  
Masaharu Nishimura ◽  
...  
Keyword(s):  
Closed Loop ◽  
Design Method ◽  
Steering System ◽  
Front Wheel ◽  
Slip Angle ◽  
Yaw Control ◽  
Tire Force ◽  
Active Front Steering ◽  
Simulation Results ◽  
Tire Forces

We have proposed a design method of an active front wheel steering controller that guarantees closed-loop stability under lateral tire force saturation. The controller uses lateral tire force information to counteract destabilization caused by such saturation. The controller suppresses slip angle magnitude while lateral tire force is saturated. Numerical simulation results confirmed the effectiveness of the proposed method.

Simultaneous Optimal Distribution of Lateral and Longitudinal Tire Forces for the Model Following Control

2004 ◽  
Vol 126 (4) ◽  
pp. 753-763 ◽  
Author(s):  
Ossama Mokhiamar ◽  
Masato Abe
Keyword(s):  
Lateral Force ◽  
Longitudinal Force ◽  
Equality Constraints ◽  
Steering Wheel ◽  
Slip Angle ◽  
Force Distribution ◽  
Distribution Method ◽  
Tire Force ◽  
Model Following Control ◽  
Tire Forces

This paper presents a proposed optimum tire force distribution method in order to optimize tire usage and find out how the tires should share longitudinal and lateral forces to achieve a target vehicle response under the assumption that all four wheels can be independently steered, driven, and braked. The inputs to the optimization process are the driver’s commands (steering wheel angle, accelerator pedal pressure, and foot brake pressure), while the outputs are lateral and longitudinal forces on all four wheels. Lateral and longitudinal tire forces cannot be chosen arbitrarily, they have to satisfy certain specified equality constraints. The equality constraints are related to the required total longitudinal force, total lateral force, and total yaw moment. The total lateral force and total moment required are introduced using the model responses of side-slip angle and yaw rate while the total longitudinal force is computed according to driver’s command (traction or braking). A computer simulation of a closed-loop driver-vehicle system subjected to evasive lane change with braking is used to prove the significant effects of the proposed optimal tire force distribution method on improving the limit handling performance. The robustness of the vehicle motion with the proposed control against the coefficient of friction variation as well as the effect of steering wheel angle amplitude is discussed.

Adaptive Vehicle Stability Control With Optimal Tire Force Allocation

2012 ◽  
Author(s):  
Mustafa Ali Arat ◽  
Kanwar Bharat Singh ◽  
Saied Taheri
Keyword(s):  
Stability Control ◽  
Crash Risk ◽  
Slip Angle ◽  
Vehicle Stability ◽  
Successful Implementation ◽  
Tire Force ◽  
Vehicle Stability Control ◽  
Saturation Region ◽  
Road Friction ◽  
Tire Forces

Vehicle stability control systems have been receiving increasing attention, especially over the past decade, owing to the advances in on-board electronics that enables successful implementation of complex algorithms. Another major reason for their increasing popularity lies in their effectiveness. Considering the studies that expose supporting results for reducing crash risk or fatality, organizations such as E.U. and NHTSA are taking steps to mandate the use of such safety systems on vehicles. The current technology has advanced in many aspects, and undoubtedly has improved vehicle stability as mentioned above; however there are still many areas of potential improvements. Especially being able to utilize information about tire-vehicle states (tire forces, tire-slip angle, and tire-road friction) would be significant due to the key role tires play in providing directional stability and control. This paper presents an adaptive vehicle stability controller that makes use of tire force and slip-angle information from an online tire monitoring system. Solving the optimality problem for the tire force allocation ensures that the control system does not push the tires into the saturation region where neither the driver nor the controller commands are implemented properly. The proposed control algorithm is implemented using MATLAB/CarSim® software packages. The performance of the system is evaluated under an evasive double lane change maneuver on high and low friction surfaces. The results indicate that the system can successfully stabilize the vehicle as well as adapting to the changes in surface conditions.

Study of Electricity Powered Four-Wheel Steering System Based on Fuzzy Neural Network

2014 ◽  
Vol 716-717 ◽  
pp. 1494-1499
Author(s):  
Wei Dong Li ◽  
Yi Zhang
Keyword(s):  
Neural Network ◽  
Fuzzy Neural Network ◽  
Steering System ◽  
Front Wheel ◽  
Slip Angle ◽  
Self Healing ◽  
Side Slip Angle ◽  
The Neural Network ◽  
Fuzzy Neural ◽  
Non Linear System

By the analysis of the operational principle of electricity powered four-wheel steering system, a new system based on the fuzzy neural network. Since this is a complex multivariate and non-linear system, by making use of the characteristics of fuzzy control and the neural network, a fuzzy neural network can be established. The speed of car and front-wheel steering angle being the input and steering model being the output, the side-slip angle of the in the process of steering can be control to zero. At last, by emulating this system with the software Matlab/Simulink, it shows that self-healing control technology can effectively control the side-slip angle and improve the motility and stability of a car.

Research on a New Cooling System of Airborne Electronic Equipment

2011 ◽  
Vol 138-139 ◽  
pp. 117-122
Author(s):  
Xue Yong Chen ◽  
Ning Zhao ◽  
Yan Zhao Cai ◽  
Zhao Jun Yan ◽  
Yue Zong Wang
Keyword(s):  
Closed Loop ◽  
Cooling System ◽  
Design Method ◽  
High Heat ◽  
Electronic Equipment ◽  
Flow Density ◽  
Forced Ventilation ◽  
Heat Flow Density ◽  
High Heat Flow ◽  
Simulation Results

In order to solve centralized installation and cooling problems of airborne electronic equipment with big power and high heat flow density in aircraft, the paper put forward an innovative closed-loop forced ventilation cooling system, expatiated system compositions and operation principles, and also took a cabinet system for example to introduce new cooling system design method and simulation results.

A New Method in Estimating Vehicle Center of Gravity Position Parameters Based on Ackermann’s Steering

2016 ◽  
Author(s):  
Zitian Yu ◽  
Junmin Wang
Keyword(s):  
Front Wheel ◽  
Center Of Gravity ◽  
New Method ◽  
Recursive Least Squares ◽  
Vehicle Model ◽  
3 Dimensional ◽  
Tire Force ◽  
Tire Forces ◽  
System Configurations

The determination of vehicle’s center of gravity position is an important but challenging task for control of advanced vehicles such as automated vehicles, especially under daily usage condition where the system configurations and payload condition may change. To address this problem, a new method is proposed in this paper to estimate the vehicle’s 3-dimensional center of gravity position parameters without relying on detailed suspension configuration parameters or lateral tire force models. In the estimation problem, the vehicle’s planar dynamic equations are synthesized together to reduce the number of unknown lateral tire forces, then the condition of Ackermann’s Steering Geometry can be found to eliminate the influence of the remaining unknown front wheel lateral tire forces. When the unknown tire forces are cancelled, the recursive least squares (RLS) regression technique is used to identify the 3-dimensional center of gravity position parameters. The vehicle model with the sprung mass modeled as an inverted pendulum is developed to assist the analysis and conversion of sensor measured signals. Simulations conducted in a high-fidelity CarSim® vehicle model have demonstrated the capability of this proposed method in estimating the vehicle’s center of gravity position parameters.

The Design and Characteristic Analysis of the Steering System of Balanced Rocker Wheeled Chassis

2015 ◽  
Vol 743 ◽  
pp. 3-10
Author(s):  
Xiao Lin Xie ◽  
Feng Gao
Keyword(s):  
Angular Velocity ◽  
Mechanical Model ◽  
Steering System ◽  
Front Wheel ◽  
Control Methods ◽  
Characteristic Analysis ◽  
Adams Software ◽  
Simulation Results ◽  
Two Degree Of Freedom ◽  
Proportional Feedback

According to the particularity of balanced rocker wheeled chassis, a four wheel independent steering system was designed. The chassis of the two degree of freedom model was established, the proportional feedback control of yawing angular velocity and front wheel Angle-yawing angular velocity was simulated, the chassis steering performance under the two classic control methods was analyzed, then the dynamics of mechanical model was established in ADAMS software, the steering performance under different speed was simulated. At last, compared with two simulation results, it was proved that the steering system has good handling stability.

State Estimation of a Robotic Vehicle With Six In-Wheel Drives Using Kalman Filter

2020 ◽  
Author(s):  
Hussein F. M. Ali ◽  
Se-Woong Oh ◽  
Youngshik Kim
Keyword(s):  
Kalman Filter ◽  
Dynamic Model ◽  
Angular Acceleration ◽  
Estimation Algorithm ◽  
Slip Angle ◽  
Test Environment ◽  
Slip Ratio ◽  
Tire Force ◽  
Robotic Vehicle ◽  
Tire Forces

Abstract This paper describes an estimation algorithm for a robotic vehicle with articulated suspension (RVAS) to estimate the vehicle velocity and acceleration states, and the tire forces. The RVAS is an unmanned ground vehicle based on a skid steering using an independent in-wheel motor at each wheel. The estimation algorithm consists of five parts. In the first part, a wheel state estimator estimates the wheel rotational speed and its angular acceleration using Kalman filter, which is used to estimate the longitudinal tire force distribution in the second part. The third part is to estimate respective longitudinal, lateral, and vertical speeds of the vehicle and wheels. Based on these speeds, the slip ratio and slip angle are estimated in the fourth part. In the fifth part, the vertical tire force is then estimated. For a simulation test environment, the RVAS dynamic model is developed using Matlab and Simulink. The RVAS model consists of five main parts which include in-wheel motor model, wheel dynamic model, Fiala tire model, arm dynamic model, and the sprung mass dynamic model. The estimation algorithm is then validated using the vehicle test data and different test scenarios. It is found from simulation results that the proposed estimation algorithm can estimate the vehicle states, longitudinal tire forces, and vertical tire forces efficiently.

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