scholarly journals Analysis on Steering Performance of Active Steering Bogie According to Steering Angle Control on Curved Section

2020 ◽  
Vol 10 (12) ◽  
pp. 4407
Author(s):  
Hyunmoo Hur ◽  
Yujeong Shin ◽  
Dahoon Ahn
Keyword(s):  
Lateral Force ◽  
Steering System ◽  
Design Stage ◽  
Radius Of Curvature ◽  
Steering Control ◽  
Level Control ◽  
Steering Angle ◽  
Active Steering ◽  
Derailment Coefficient ◽  
Curved Section

In this paper, prior to the commercialization of a developed active steering bogie, we want to analyze steering performance experimentally according to steering angle level with the aim of obtaining steering performance data to derive practical design specifications for a steering system. In other words, the maximum steering performance can be obtained by controlling the steering angle at the 100% level of the target steering angle, but it is necessary to establish the practical control range in consideration of the steering system cost increase, size increase, and consumer steering performance requirements and commercialize. The steering control test using the active steering bogie was conducted in the section of the steep curve with a radius of curvature of R300, and steering performance such as bogie angle, wheel lateral force, and derailment coefficient were analyzed according to the steering angle level. As the steering angle level increased, the bogie indicated that it was aligned with the radial steering position, and steering performance such as wheel lateral force and derailment coefficient was improved. The steering control at 100% level of the target steering angle can achieve the highest performance of 83.6% reduction in wheel lateral force, but it can be reduced to about one-half of the conventional bogie at 25% level control and about one-third at 50% level. Considering cost rise by adopting the active steering system, this result can be used as a very important design indicator to compromise steering performance and cost rise issues in the design stage of the steering system from a viewpoint of commercialization. Therefore, it is expected that the results of the steering performance experiment according to the steering angle level in this paper will be used as very useful data for commercialization.

scholarly journals Analysis on Steering Performance of Active Steering Bogie According to Steering Angle Control in Curve Section

2020 ◽  
Author(s):  
Hyunmoo Hur ◽  
Yujeong Shin ◽  
Dahoon Ahn
Keyword(s):  
Position Control ◽  
Control Method ◽  
Lateral Force ◽  
Future Research ◽  
Railway Vehicle ◽  
Radius Of Curvature ◽  
Steering Angle ◽  
Active Steering ◽  
Derailment Coefficient ◽  
Curved Section

The steering performance according to the steering angle control was tested by using the active steering bogie developed to reduce excessive wheels and rail wear and noise generated when the railway vehicle run in a curved section. As a result of the test of increasing the steering angle in accordance with the target steering angle in the 300m radius of curvature, the bogie is gradually aligned in the radial steering position, and when the control is carried out to 100% of the target steering angle, the bogie angles of the front and rear bogies appeared almost the same. As the steering angle increased, wheel lateral force and derailment coefficient also decreased. Therefore, the validity of the radial steering position control method applied in this paper was confirmed experimentally. This test results will be used for future research on active steering bogie commercialization.

AWD Vehicle Dynamics and Energy Efficiency Improvement by Means of Interaxle Driveline and Steering Active Fusion

2013 ◽  
Author(s):  
Vladimir V. Vantsevich
Keyword(s):  
Energy Efficiency ◽  
Power Distribution ◽  
Longitudinal Velocity ◽  
Lateral Force ◽  
Steering System ◽  
Lateral Acceleration ◽  
Mathematical Function ◽  
Steering Angle ◽  
Lateral Dynamics ◽  
Active Steering

This paper presents a novel approach to improve both energy efficiency and lateral dynamics of an all-wheel drive (AWD) vehicle by means of active functional/operational fusion of a driveline system, which distributes power between the front and rear driving axles, and a steering system that steers the front driving wheels. The paper starts by presenting the kinematic discrepancy factor, which is a normalized difference of the front and rear theoretical velocities that influences the wheel power distribution, as a mathematical function of the tire rolling radii in the driven mode, the gear ratios of the driveline system, and the steering angle of the front wheels. Using this function, the gear ratios from the transfer case to the front and rear wheels are determined to optimize vehicle energy efficiency by minimizing the kinematic discrepancy at the vehicle’s straight line motion and on a curve. It is also analytically shown that the wheel power distribution leads to the variation of the circumferential force of the front wheels that significantly influences the magnitude and direction of the front wheel lateral force. Thus, the paper introduced the wheel power distribution between the driving axles as an instrument for controlling oversteer-understeer transition of a vehicle, i.e., controlling vehicle lateral dynamics. Finally, the steering angle of the front wheels is considered and analyzed as an input of an active steering system to control the vehicle oversteer-understeer process in combination with the effect of the steering angle on the kinematic discrepancy factor. Longitudinal velocity control is added to constrain the lateral acceleration. Thus, the functional fusion of the active steering and driveline systems for enhancing both AWD vehicle energy efficiency and dynamics is introduced for the first time.

scholarly journals Research on vehicle active steering control based on linear matrix inequality and hardware in the loop test scheme design and implement for active steering

2019 ◽  
Vol 11 (11) ◽  
pp. 168781401989210 ◽  
Author(s):  
Guangfei Xu ◽  
Peisong Diao ◽  
Xiangkun He ◽  
Jian Wu ◽  
Guosong Wang ◽  
...  
Keyword(s):  
Linear Matrix Inequality ◽  
Model Uncertainty ◽  
Control Method ◽  
Steering System ◽  
Linear Matrix ◽  
Matrix Inequality ◽  
Steering Control ◽  
Sensor Noise ◽  
Active Steering ◽  
Active Steering Control

In the research process of automotive active steering control, due to the model uncertainty, road surface interference, sensor noise, and other influences, the control accuracy of the active steering system will be reduced, and the driver’s road sense will become worse. The traditional robust controller can solve the model uncertainty, pavement disturbance and sensor noise in the design process, but cannot consider the performance enough. Therefore, this article proposes an active steering control method based on linear matrix inequality. In this method, the model uncertainty, road interference, sensor noise, yaw velocity, and slip side angle tracking errors are all considered as constraint targets, respectively, so that the performance and robust stability of the active front steering system can be guaranteed. Finally, simulation and hardware in the loop experiment are implemented to verify the effect of active front steering system under the linear matrix inequality controller. The results show that the proposed control method can achieve better robust performance and robust stability.

Active Steering Control Based on the Estimated Tire Forces

1999 ◽  
Vol 123 (3) ◽  
pp. 505-511 ◽  
Author(s):  
Kunsoo Huh ◽  
Joonyoung Kim
Keyword(s):  
Control Method ◽  
Lateral Force ◽  
Steering Control ◽  
Monitoring Model ◽  
Active Steering ◽  
Steer By Wire ◽  
The Difference ◽  
Tire Forces ◽  
Active Steering Control ◽  
As If

Steered vehicles on slippery roads tend to slide outward with less lateral force than on high friction roads. In this paper, an active steering control method is proposed such that the vehicles on slippery roads are steered as if they are driven on high friction roads. In order to estimate the lateral force at each tire, a monitoring model is developed utilizing not only the vehicle dynamics but also the roll motion. The estimated lateral force is compared with the optimal reference force and the difference is compensated by the active steering controller. A fuzzy logic rule is designed for the active controller and its performance is evaluated on a steering Hardware-In-the-Loop Simulation (HILS) system. Steering results on slippery curved and sinusoidal roads demonstrate the effectiveness of the proposed controller. The drivers with the controller can steer the vehicles as if they are always driving on the high friction road, because the deviation from the high friction road is accommodated by the proposed steering controller. This method can be realized with the steer-by-wire concept and is promising as an active safety technology.

Feedforward-plus-proportional-integral-derivative controller for an off-road vehicle electrohydraulic steering system

2003 ◽  
Vol 217 (5) ◽  
pp. 375-382 ◽  
Author(s):  
H Qiu ◽  
Q Zhang
Keyword(s):  
Pid Controller ◽  
Feedback Loop ◽  
Tracking Error ◽  
Steering System ◽  
Proportional Integral Derivative ◽  
Steering Control ◽  
Steering Angle ◽  
Proportional Integral ◽  
Feedforward Controller ◽  
Angle Tracking

This paper presents the use of a feedforward-plus-proportional-integral-derivative (FPID) controller for improving the control performance of the electrohydraulic steering system on an offroad vehicle. The FPID controller used an inverse valve transform in the feedforward loop to compensate for an electrohydraulic steering system deadband and used a conventional PID feedback loop to minimize the tracking error in steering control. On-simulator evaluation tests verified that the FPID resulted in a superior steering rate tracking performance over both a feedforward controller and a PID controller. On-vehicle evaluation tests verified that this FPID controller could achieve prompt and accurate steering angle tracking for agricultural vehicle automated guidance applications.

Nonlinear Feedforward-Plus-PID Control for Electrohydraulic Steering Systems

1999 ◽  
Author(s):  
Hongchu Qiu ◽  
Qin Zhang ◽  
John F. Reid ◽  
Duqiang Wu
Keyword(s):  
Tracking Error ◽  
Steering System ◽  
Pid Controllers ◽  
Test Results ◽  
Steering Control ◽  
Gain Function ◽  
Nonlinear Gain ◽  
Steering Angle ◽  
Nonlinear Behaviors ◽  
Agricultural Tractor

Abstract This paper presents the development of a nonlinear feedforward-plus-Proportional-Integral-Derivative (FPID) controller for electrohydraulic (E/H) steering on wheel-type tractors. An E/H steering system is a typical nonlinear system with deadband, saturation, asymmetric flow gain, time delay, and other nonlinear behaviors. Conventional PID controllers are incapable of achieving accurate steering control effectively on such nonlinear systems. In this research, an FPID controller was developed for effective and accurate steering control. The feedforward loop in this controller was designed to compensate for the deadband of the E/H system. The PID loop was designed to compensate the tracking error in steering control. A coordinated nonlinear gain function was designed to change the PID loop gain based on the level of the tracking error. This FPID controller has significantly improved the steering accuracy comparing with that from a PID controller. Test results showed that the maximum tracking error in steering angle was less than 0.5° corresponding to a sinusoid steering command of ±5° at the command frequency of 0.1 Hz. The maximum overshoot was less than 12% and the rise time was less than 0.25 s corresponding to a steering command of 5° step input. This FPID controller achieved effective and accurate steering control on agricultural tractor E/H steering systems.

Establishment and comparison of a spatial dynamics model for virtual track train with different steering modes

2021 ◽  
pp. 146441932110240
Author(s):  
Zhonghui Yin ◽  
Jiye Zhang ◽  
Haiying Lu
Keyword(s):  
Pid Controller ◽  
Dynamic Performance ◽  
Spatial Dynamics ◽  
Steering System ◽  
Front Wheel ◽  
Proportional Integral Derivative ◽  
Dynamics Model ◽  
Proposed Model ◽  
Suspension Control ◽  
Curved Section

To solve the urbanization and the economic challenges, a virtual track train (VTT) transportation system has been proposed in China. To evaluate the dynamic behavior of the VTT, a spatial dynamics model has been developed that considers the suspension system and the steering system. Additionally, the model takes into account road irregularity to make simulations more realistic. Based on the newly proposed dynamic model and a designed proportional–integral–derivative (PID) controller, simulation frames of the vehicle and of the VTT are established with the path-tracking performance. The results show that the vehicle and the VTT can run along a desired lane with allowable errors, verifying the proposed model. The vehicle and VTT with the four-wheel steering system show a better dynamic performance than the models with the front-wheel steering system in the curved section. Moreover, the simulation frame can be further applied to dynamics-related assessments, parameter optimization and active suspension control strategy.

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.

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