Design of a Fuzzy Controller for Independent Control of Front Wheels Steering Angles

2009 ◽  
Author(s):  
Avesta Goodarzi ◽  
Davood Rahiminejad ◽  
Ebrahim Esmailzadeh
Keyword(s):  
Control System ◽  
Dynamic Models ◽  
Fuzzy Controller ◽  
Reference Model ◽  
Degree Of Freedom ◽  
Lateral Acceleration ◽  
Slip Angle ◽  
Steering Control ◽  
Independent Control ◽  
Active Steering

In this study a novel control strategy for independent control of front wheels’ steering angles, using fuzzy logic control, has been developed. For this purpose at first the appropriate vehicle dynamic models have been introduced. A simplified two-degree-of-freedom model is considered as the reference model and then a comprehensive eight-degree-of-freedom model is developed as the simulation tool. In the next step, the comprehensive control system has been designed. The control system based on the yaw rate error of the actual vehicle comparing to the predefined reference model, the actual vehicle side slip angle and also lateral acceleration of the actual vehicle, calculates the correction steering angles of the front inner and outer wheels. Finally, a sophisticated precise numerical simulation is performed. In order to ponder the performance of the proposed controller, an optimal control system as an active steering control (ASC) has been used for comparison. The simulation results show considerable improvement in handling and stability of the vehicle compared to the conventional non-controlled system and also a vehicle equipped with an optimal controller ASC.

Improvement in the rollover stability of a liquid-carrying articulated vehicle via a new robust controller

2016 ◽  
Vol 231 (3) ◽  
pp. 322-346 ◽  
Author(s):  
Mohammad Amin Saeedi ◽  
Reza Kazemi ◽  
Shahram Azadi
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
Dynamic Model ◽  
Sliding Mode ◽  
Degree Of Freedom ◽  
Roll Control ◽  
Mode Control ◽  
Active Steering ◽  
Articulated Vehicle ◽  
Active Roll Control

In this paper, in order to improve the roll stability of an articulated vehicle carrying a liquid, an active roll control system is utilized by employing two different control methods. First, a 16-degree-of-freedom non-linear dynamic model of an articulated vehicle is developed. Next, the dynamic interaction of the liquid cargo with the vehicle is investigated by integrating a quasi-dynamic liquid sloshing model with a tractor–semitrailer model. Initially, to improve the lateral dynamic stability of the vehicle, an active roll control system is developed using classical integral sliding-mode control. The active anti-roll bar is employed as an actuator to generate the roll moment. Next, in order to verify the classical sliding-mode control performance and to eliminate its chattering, the backstepping method and the sliding-mode control method are combined. Subsequently, backstepping sliding-mode control as a new robust control is implemented. Moreover, in order to prevent both yaw instability and jackknifing, an active steering control system is designed on the basis of a simplified three-degree-of-freedom dynamic model of an articulated vehicle carrying a liquid. In the introduced system, the yaw rate of the tractor, the lateral velocity of the tractor and the articulation angle are considered as the three state variables which are targeted in order to track their desired values. The simulation results show that the combined proposed roll control system is more successful in achieving target control and reducing the lateral load transfer ratio than is classical sliding-mode control. A more detailed investigation confirms that the designed active steering system improves both the lateral stability of the vehicle and its handling, in particular during a severe lane-change manoeuvre in which considerable instability occurs.

scholarly journals Active-steering control system based on human hand impedance properties

2010 ◽  
Author(s):  
Yoshiyuki Tanaka ◽  
Yusuke Kashiba ◽  
Naoki Yamada ◽  
Takamasa Suetomi ◽  
Kazuo Nishikawa ◽  
...  
Keyword(s):  
Control System ◽  
Human Hand ◽  
Steering Control ◽  
Active Steering ◽  
Active Steering Control

The Fuzzy Control Method in Semi-Active Suspension

2010 ◽  
Vol 159 ◽  
pp. 644-649
Author(s):  
Jing Hua Zhao ◽  
Wen Bo Zhang ◽  
He Hao
Keyword(s):  
Control System ◽  
Fuzzy Control ◽  
Control Method ◽  
Fuzzy Controller ◽  
Simulation Analysis ◽  
Reference Model ◽  
Active Suspension ◽  
Vibration Characteristic ◽  
Acceleration Signal ◽  
Logic Control

Based on the analysis of performance of vehicle and its suspension, half vehicle model of five DOF and road model were built and the dynamic equations of half vehicle were derived according to the parameters of a commercial vehicle. In addition, a novel fuzzy logic control system based on semi-active suspension was introduced to achieve the optimal vibration characteristic, with changing the adjustable dampers according to dynamic vertical body acceleration signal. The fuzzy control was designed based on non-reference model method that acceleration value was sent to the fuzzy controller directly. And then, simulation analysis of semi-active suspension with fuzzy control method were implemented on the B-class road surface. The results showed that the semi-active suspension control system introduced in this paper has better performance on vieicle vibration characteristic, compared to passive suspension.

Active steering control system for an independent wheel drive electric vehicle

2019 ◽  
Vol 79 (4) ◽  
pp. 273
Author(s):  
Muhammad Arshad Khan ◽  
Muhammad Faisal Aftab ◽  
Ejaz Ahmad ◽  
Iljoong Youn
Keyword(s):  
Control System ◽  
Electric Vehicle ◽  
Steering Control ◽  
Active Steering ◽  
Wheel Drive ◽  
Active Steering Control

Multi-degree of freedom robust control of the CNC X-Y table PMSM-based feed-drive module

2012 ◽  
Vol 61 (1) ◽  
pp. 15-31 ◽  
Author(s):  
Krzysztof Pietrusewicz
Keyword(s):  
Control System ◽  
Robust Control ◽  
Dynamic Models ◽  
Velocity Model ◽  
Degree Of Freedom ◽  
Actual State ◽  
Switching Algorithm ◽  
Feed Drive ◽  
Open Cnc System ◽  
Linear Synchronous Motors

Multi-degree of freedom robust control of the CNC X-Y table PMSM-based feed-drive module The paper presents results of studies on linear synchronous motors controlled in CNC feed axes through an intelligent digital servodrive. The research includes a conceptual design of an open servodrive control system and identification of dynamic models of a test stand with an open CNC system. Advantages of robust control over the classic one are discussed. A hybrid predictive approach to robust control of milling machine X-Y table velocity is proposed and results of simulation tests are presented. was prepared during the work for the Ministry of Science and Higher Education grant number N N502 336936, (acronym for this project is M.A.R.I.N.E. multivariable hybrid ModulAR motIon coNtrollEr), while its main purpose is the development of new robust position/velocity model-based control system, as well as to introduce the measurement of the actual state into the switching algorithm between the locally synthesized controllers. Such switching increases the overall robustness of the machine tool feed-drive module. The paper is the extended version of material proposed in [10].

A novel tracking control method for the distributed-drive and active-steering articulated virtual rail train

2021 ◽  
pp. 095965182110274
Author(s):  
Dehua Zhang ◽  
Caijin Yang ◽  
Weihua Zhang ◽  
Yao Cheng
Keyword(s):  
Control System ◽  
Data Storage ◽  
Tracking Control ◽  
Control Method ◽  
Trajectory Generation ◽  
Front Axle ◽  
Steering Control ◽  
Differential Distribution ◽  
Target Trajectory ◽  
Active Steering

To realize the running control of distributed-drive and active-steering articulated virtual rail trains travelling on urban roads under non-contact virtual rail constraints, target trajectory generation and active-steering control are crucial issues. In this article, a novel tracking control method is proposed, which includes a dynamic target trajectory generation and a new active-steering tracking control system. First, a distributed-drive and active-steering articulated virtual rail train kinematics model with n-sections is derived, and then a new target trajectory generation method is proposed using data filtering and compression, coordinate transformation and spline difference, and the simulation comparison shows that the proposed method has less data storage space and high computational efficiency. Second, a new active-steering tracking control system composed of a rear axle preview active-steering controller, a front axle coordinated steering controller, and a differential-distribution controller is designed to achieve tracking control and coordinated movement of distributed-drive and active-steering articulated virtual rail train. Finally, a distributed-drive and active-steering articulated virtual rail train simulation model was constructed in ADAMS, and then simulations are performed under three rail conditions and compared with the other two methods, which show that the proposed method has good tracking control accuracy, adaptability, and superiority under various rails and different speeds.

Two-Loop System with Reference Model for Control of Spatial Movement of Cargo Underwater Vehicle

2021 ◽  
Vol 22 (3) ◽  
pp. 134-144
Author(s):  
V. F. Filaretov ◽  
D. A. Yukhimets
Keyword(s):  
Control System ◽  
Control Systems ◽  
Dynamic Models ◽  
High Efficiency ◽  
Reference Model ◽  
Dynamic Properties ◽  
Autonomous Underwater Vehicles ◽  
Nonlinear Controller ◽  
Combined System ◽  
Spatial Trajectories

Currently, autonomous underwater vehicles (AUV) are increasingly used to perform tasks related to the maintenance of underwater communications and various underwater production complexes, as well as performing underwater technological operations. To effectively perform these operations, AUV must have high-quality control systems that will ensure their accurate movement both along long spatial trajectories formed during their movement to the objects of work, and when performing complex maneuvers near underwater infrastructure objects. At the same time, the main difficulty that arises in the process of synthesis of AUV control systems is the significant non-linearity of the dynamic models of these control objects, the presence of interactions between their degrees of freedom, as well as the uncertainty and variability of their parameters. In this paper, we propose a method for synthesizing the spatial motion control system of the AUV, which allows us to take into account these negative effects. This system contains two loops. The first loop includes a combined system containing a nonlinear controller to achieve the desired dynamic characteristics of the AUV, when its parameters are equal to the nominal values, and a controller with self-tuning according to the reference model, which provides compensation for an unknown or variable part of the parameters. In this case, the parameters of the controller with the reference model are selected to reduce the possible amplitude of the discontinuous signal for controlling the AUV velocity. The second loop is a non-linear position controller that allows to take into account the dynamic properties of the velocity control loop and the kinematic properties of the AUV. The advantage of the proposed control system in comparison with traditional ones based on PID controllers is a higher control accuracy when moving along complex spatial trajectories, regardless of changes in the AUV parameters. The simulation results confirmed the high efficiency of the synthesized two-loop control system.

The Fuzzy Decoupling Control of the Electric Vehicle Steering and Speed Systems

2013 ◽  
Vol 387 ◽  
pp. 284-287
Author(s):  
Guo Li ◽  
Yan Sun
Keyword(s):  
Control System ◽  
Electric Vehicle ◽  
Pid Controller ◽  
Fuzzy Controller ◽  
Decoupling Control ◽  
Control Problems ◽  
Vehicle Speed ◽  
Steering Control ◽  
Fuzzy Pid Controller ◽  
Coupled Effect

Based on the electric vehicle steering and speed models, this paper discussed the control problems of the electric vehicle steering and speed systems. Firstly, the electric vehicle speed control system is designed using the fuzzy PID controller. Then the electric vehicle steering controller is a fuzzy controller. Due to the coupled effect of speed in the steering control system, designing a fuzzy decoupling controller, reducing the coupled effect of speed, in order to control the system of steering model and speed model independently, and to achieve the purpose of decoupling. Finally, the result of simulation proves that no matter how speed changes, steering control system still has good tracking performance with decoupling controller. The systemic robustness is much stronger and it also enhances the utility of the control system.

Implementation of Trailer Steering Control on a Multi-Unit Vehicle at High Speeds

2013 ◽  
Vol 136 (2) ◽  
Author(s):  
Richard Roebuck ◽  
Andrew Odhams ◽  
Kristoffer Tagesson ◽  
Caizhen Cheng ◽  
David Cebon
Keyword(s):  
Control System ◽  
High Speed ◽  
Tracking Error ◽  
Path Following ◽  
Stability Control ◽  
Substantial Improvement ◽  
Lateral Acceleration ◽  
Steering Control ◽  
Stability Margins ◽  
Stability Control System

A high-speed path-following controller for long combination vehicles (LCVs) was designed and implemented on a test vehicle consisting of a rigid truck towing a dolly and a semitrailer. The vehicle was driven through a 3.5 m wide lane change maneuver at 80 km/h. The axles of the dolly and trailer were steered actively by electrically-controlled hydraulic actuators. Substantial performance benefits were recorded compared with the unsteered vehicle. For the best controller weightings, performance improvements relative to unsteered case were: lateral tracking error 75% reduction, rearward amplification (RA) of lateral acceleration 18% reduction, and RA of yaw rate 37% reduction. This represents a substantial improvement in stability margins. The system was found to work well in conjunction with the braking-based stability control system of the towing vehicle with no negative interaction effects being observed. In all cases, the stability control system and the steering system improved the yaw stability of the combination.

A new robust controller to improve the lateral dynamic of an articulated vehicle carrying liquid

2016 ◽  
Vol 231 (2) ◽  
pp. 295-315 ◽  
Author(s):  
Mohammad Amin Saeedi ◽  
Reza Kazemi ◽  
Shahram Azadi
Keyword(s):  
Control System ◽  
Dynamic Model ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Steering Control ◽  
Roll Control ◽  
Active Steering ◽  
Articulated Vehicle ◽  
Active Roll Control ◽  
Active Steering Control

In this paper to improve manoeuvrability and jackknifing prevention, as well as increasing rollover stability of an articulated vehicle carrying liquid, a new control system coupled with an active roll control system and an active steering control system is presented. First, a 16-degrees-of-freedom nonlinear dynamic model of an articulated vehicle is developed. Next, the dynamic interaction of the liquid cargo with the vehicle is investigated by integrating a quasi-static liquid sloshing model with a tractor semi-trailer model. Initially, to improve the roll stability of the vehicle, an active roll control system is presented. The active anti-roll bar is employed as an actuator to generate the roll moment. Furthermore, the manoeuvrability increment and jackknifing prevention are targeted using the active steering control system. The main purpose of using the active steering controller is to track the desired values of tractor yaw rate, articulation angle and tractor lateral velocity in different roads, various filled volumes and different speeds. The active steering control system is designed based on a three-degrees-of-freedom dynamic model of the articulated vehicle carrying liquid and on the basis of sliding mode control. Simulation results confirmed robust performance of the control system for different filled volumes, especially during the critical manoeuvre. Further studies show that the tracking of the desired articulation angle has not only eliminated the off-tracking path, but also has made the semi-trailer rear end follow the fifth wheel path.

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