Experimental Testing and Validation of Tangential Steering Wheel Vibrations Due to Tire Nonuniformity

2005 ◽  
Author(s):  
Virgile Ayglon ◽  
Vinod Cherian ◽  
Nader Jalili
Keyword(s):  
Dynamic Testing ◽  
Experimental Testing ◽  
System Modeling ◽  
Companion Paper ◽  
Steering System ◽  
Analytical Models ◽  
Shop Floor ◽  
Steering Wheel ◽  
Vehicle Speed ◽  
Road Testing

This paper describes the experimental testing and validation of the analytical models developed in our companion paper (IMECE2005-81581) for the nonlinear kinematics and dynamics of the suspension linked to a nonlinear rack and pinion steering system model. More specifically, the experimental results are used to cross verify the numerical simulations of the nibble using custom built analytical and ADAMS models, described in the companion paper. For this, shop floor based quasi-static Kinematic and Compliance (K&C) and dynamic testing results along with track testing on special purpose track at Michelin are presented. Other results include impulse testing of the steering system, as mounted on the vehicle, as well as shaker testing to verify the results. Road testing is also carried out at speeds close to the vehicle critical speed in order to compare and validate the suspension models using the quasi-static K&C testing. The road testing results demonstrate the variation of forces in the steering system due to tire imbalances, emphasizing the nonlinear effects in the vehicle system modeling as well as the variation of the shimmy phenomenon with vehicle speed and tire imbalance.

Nonlinear Modeling and Experimental Validation of Tire Nonuniformity Induced Tangential Steering Wheel Vibrations

2006 ◽  
Author(s):  
Virgile Ayglon ◽  
Nader Jalili ◽  
Imtiaz Haque
Keyword(s):  
Degrees Of Freedom ◽  
Nonlinear Modeling ◽  
Equations Of Motion ◽  
Quantitative Measure ◽  
Steering System ◽  
Steering Wheel ◽  
Vehicle Speed ◽  
Pinion Gear ◽  
Stiffness And Damping ◽  
Vehicle Chassis

This paper describes the model integration and validation that followed the development of nonlinear models of a tire with non-uniformities, a double wishbone suspension and rack-and-pinion power steering. These submodels are integrated to investigate the effects of variation of tire, suspension and steering parameters on the transmission of tire forces acting on the wheel spindle to the steering system and vehicle chassis. The tire model is based on a rigid ring model which includes mass imbalance and balancing mass. The suspension is idealized as rigid links with seven degrees-of-freedom and the bushings are represented by spring-damper elements. The equations of motion are derived using the Lagrange multiplier method in Maple, and solved numerically using Matlab DAE solver. The steering system is idealized as a four degree-of-freedom system and considers motion of the rack, rack housing, pinion gear and steering wheel. Nonlinear compliant friction is considered between the pinion gear / rack, and the steering column / chassis interfaces. The analytical model is used to develop a quantitative measure of the relative importance of the parameters such as mass/inertia, suspension bushing stiffness and damping, torsion bar stiffness and damping, rack friction and damping, to the force transmissibility to the vehicle chassis and the steering system. Experimental results include a modal analysis, a shop-testing and road testing, which are used to cross verify the numerical simulations. The testing shows the variation of forces in the steering system due to tire imbalances, emphasizing the nonlinear variation of the nibble phenomenon with vehicle speed and tire imbalance. Results obtained from simulation matches well with the experimental measurements.

The Research of Steer by Wire System Based on Fuzzy Logic Control

2011 ◽  
Vol 55-57 ◽  
pp. 780-784
Author(s):  
Shu Fang Geng ◽  
Qing Feng Peng ◽  
Li Fang Wang
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Control ◽  
Control Method ◽  
Steering System ◽  
System Structure ◽  
Steering Wheel ◽  
System Control ◽  
Vehicle Speed ◽  
Response Characteristics ◽  
Logic Control

This paper describes SBW system structure and principle, for different vehicle speed inputs and steering wheel angle step inputs, the simulation model run in Simulink, and obtain yaw rate response characteristics, so the steering system control requirements is proposed, establishes fuzzy logic control system. This control strategy can improve vehicle’s stability and fast respond characteristics. Simulations are carried out to gain a series of transmission ratio curves, show the validity of the proposed fuzzy logic control method.

Nonlinear Modeling and Theoretical Development of Tire Nonuniformity Induced Tangential Steering Wheel Vibrations

2005 ◽  
Author(s):  
Vinod Cherian ◽  
Nader Jalili ◽  
Imtiaz Haque
Keyword(s):  
Nonlinear Modeling ◽  
Equations Of Motion ◽  
Kinematic Chain ◽  
Steering System ◽  
Theoretical Development ◽  
Analytical Models ◽  
Steering Wheel ◽  
Virtual Test ◽  
Relative Coordinates ◽  
Linear Spring

This paper describes a nonlinear modeling approach for a double wishbone suspension developed to investigate the nonlinear kinematics and dynamics in the closed, spatial kinematic chain configuration of the suspension. This model is linked to a nonlinear rack and pinion steering subsystem model in order to study the steering nibble (steering wheel rotational vibrations). The suspension mechanism is idealized as a four degree-of-freedom model for a power assisted rack and pinion steering system, with suspension members considered as rigid links and the bushings idealized as linear spring-damper elements. A system of relative coordinates is used in the suspension subsystem model to minimize the number of equations that would be necessary due to the large number of geometrical and kinematic constraints. The equations of motion for the analytical subsystem models are derived symbolically using Maple and solved numerically using Matlab. The results of simulation of the model subjected to a virtual Kinematics and Compliance (K&C) test are compared with the results generated by the developed ADAMS model based on the parameters obtained from a vehicle manufacturer subjected to the same virtual test. Based on the results of the virtual K&C tests and quasi static simulation of the ADAMS model and the analytical models of the vehicle suspension subsystem, the kinematics results match ADAMS model very closely.

A Prototype Steering Weave Stabilizer for Automobiles

1991 ◽  
Vol 113 (1) ◽  
pp. 138-142 ◽  
Author(s):  
J. C. Whitehead
Keyword(s):  
High Speed ◽  
Steering System ◽  
Lateral Acceleration ◽  
Steering Wheel ◽  
Phase Lag ◽  
Vehicle Speed ◽  
Control Torque ◽  
Concentrated Mass ◽  
Wheel Rim ◽  
The Difference

A prototype high-speed steering stabilizer for automobiles applies transient steering torques so that the sum of natural steering restoring torque and the control torque is more nearly in phase with steer angle than the natural restoring torque alone. The resulting reduction in the phase lag from steer angle to restoring torque mitigates the steering weave mode. Since steering restoring torque is nearly proportional to vehicle lateral acceleration, weave controller circuitry could subtract instantaneous lateral acceleration from expected steady-state lateral acceleration calculated from steer angle and vehicle speed, and thence command a steering torque actuator depending on the difference signal. The prototype performs the same function using a concentrated mass on the lower steering wheel rim which is passively sensitive to both steer angle and lateral acceleration, thereby applying only transient steering torques in the desired manner at a vehicle speed of 30 m/s. The additional steering system inertia alone affects the weave mode, so a non-stabilizing configuration with the same mass distributed around the steering wheel rim is tested for direct comparison. The experimental data show a dramatic stabilization of weave for the configuration which applies control torque.

Speed-dependent coordinated control of differential and assisted steering for in-wheel motor driven electric vehicles

2017 ◽  
Vol 232 (9) ◽  
pp. 1206-1220 ◽  
Author(s):  
Te Chen ◽  
Xing Xu ◽  
Yong Li ◽  
Wujie Wang ◽  
Long Chen
Keyword(s):  
Control System ◽  
Electric Vehicles ◽  
Sliding Mode ◽  
Coordinated Control ◽  
Front Wheel ◽  
Steering Wheel ◽  
Vehicle Speed ◽  
Control Approach ◽  
Wheel Torque ◽  
Road Testing

In this paper, we present a coordinated control system of differential and assisted steering for in-wheel motor driven (IMD) electric vehicles (EVs) with two independent front-wheel drives. An electric differential (ED) control strategy is proposed to track the expected yaw rate based on sliding mode control (SMC). Meanwhile, to realize differential drive assisted steering (DDAS), a variable speed integral PID controller is used to follow the ideal steering wheel torque. The impacts of the coupling with the ED and DDAS systems on EVs are analyzed, and a coordinated control system with adaptive weighting dependent on vehicle speed is designed. Results of the simulation on the CarSim-Simulink joint platform for IMD EVs model show that the proposed coordinated control approach can effectively reduce the torque of a steering wheel while ensuring the vehicle’s stability. Finally, road testing results of IMD EVs are demonstrated to be comparable with joint simulations, indicating the correctness of this solution.

Matching Design of Assist Characteristic for Electric Hydraulic Power Steering System of Electric Bus

2013 ◽  
Vol 427-429 ◽  
pp. 235-240 ◽  
Author(s):  
Guo Biao Shi ◽  
Jin Long Cui ◽  
Peng Gu
Keyword(s):  
Characteristic Curve ◽  
Steering System ◽  
Steering Wheel ◽  
Vehicle Speed ◽  
Power Steering ◽  
Electric Bus ◽  
Relationship Of ◽  
Hydraulic Power Steering System ◽  
Hydraulic Power Steering ◽  
The Relationship

Electric hydraulic power steering system (EHPS) has the characteristics of high energy efficiency and reliability. In this paper, we focus on the design and analysis of assist characteristic for EHPS of electric bus. The relationship of steering assist power, steering wheel torque and steering resisting torque was analyzed; steering system model and vehicle dynamic model were built. By EHPS simulation, the relationship of pump flow rate, steering wheel angular velocity and vehicle speed was deduced and 3-D assist characteristic curve map was plotted, which was suitable for electric bus. In order to apply the assist characteristic curve into practice, we optimized the curve through BP neural network, and then obtained the assist power value under any vehicle speed and steering wheel angular velocity. Finally, EHPS simulation verified the optimized assist characteristic curve having a good performance.

Study on the Return Control of the Electro-Controlled Steering Damper Based on Magnetorheological Fluid

2011 ◽  
Vol 80-81 ◽  
pp. 894-898
Author(s):  
Jian Guo Cao ◽  
Xin Hua Yang ◽  
Jie Xu
Keyword(s):  
Fuzzy Controller ◽  
Control Strategies ◽  
Magnetorheological Fluid ◽  
Steering System ◽  
Steering Wheel ◽  
Vehicle Speed ◽  
Pd Controller ◽  
Control Effect ◽  
Working Medium ◽  
Working Principle

The paper introduces an electro-controlled steering damper’s working principle, which uses the magnetorheological fluid as the working medium, and derives the damper’s controlling and calculating method. The steering wheel’s return control strategies of it are investigated. In order to compare the control effect of the PD controller with the fuzzy controller, a simulation model of the vehicle’s steering system is established on MATLAB/SIMULINK. Then simulate the returning process of the front wheels at medium and high vehicle speed. The results show that the vehicle’s steering system equipped with the electro-controlled damper can restrain effectively the returning overshoot of front wheels when the steering wheel is returning automatically, and the effect of the fuzzy controller is excelled the PD controller, but it demands much more to the hardware for its larger calculation amount.

scholarly journals Lane Departure Warning Estimation Using Yaw Acceleration

2020 ◽  
Vol 11 (1) ◽  
pp. 102-111
Author(s):  
Em Poh Ping ◽  
J. Hossen ◽  
Wong Eng Kiong
Keyword(s):  
Vehicle Dynamics ◽  
Dynamic Responses ◽  
Dynamics Simulation ◽  
Steering Wheel ◽  
Mathematical Representation ◽  
Vehicle Speed ◽  
Lane Departure Warning ◽  
Model Based ◽  
Lane Departure ◽  
Proposed Model

AbstractLane departure collisions have contributed to the traffic accidents that cause millions of injuries and tens of thousands of casualties per year worldwide. Due to vision-based lane departure warning limitation from environmental conditions that affecting system performance, a model-based vehicle dynamics framework is proposed for estimating the lane departure event by using vehicle dynamics responses. The model-based vehicle dynamics framework mainly consists of a mathematical representation of 9-degree of freedom system, which permitted to pitch, roll, and yaw as well as to move in lateral and longitudinal directions with each tire allowed to rotate on its axle axis. The proposed model-based vehicle dynamics framework is created with a ride model, Calspan tire model, handling model, slip angle, and longitudinal slip subsystems. The vehicle speed and steering wheel angle datasets are used as the input in vehicle dynamics simulation for predicting lane departure event. Among the simulated vehicle dynamic responses, the yaw acceleration response is observed to provide earlier insight in predicting the future lane departure event compared to other vehicle dynamics responses. The proposed model-based vehicle dynamics framework had shown the effectiveness in estimating lane departure using steering wheel angle and vehicle speed inputs.

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