Variable steering ratio control of steer-by-wire vehicle to improve handling performance

2019 ◽  
Vol 234 (2-3) ◽  
pp. 774-782
Author(s):  
Xiaodong Wu ◽  
Wenqi Li
Keyword(s):  
High Speed ◽  
Objective Evaluation ◽  
Angular Speed ◽  
Steering System ◽  
Lateral Acceleration ◽  
Steering Wheel ◽  
Handling Performance ◽  
Steer By Wire ◽  
Fuzzy Neural ◽  
Lane Change Test

To improve vehicle handling performance, a variable steering ratio characteristic for steer-by-wire system is designed. The steering ratio is adjusted by a compensating coefficient according to vehicle longitudinal speed and steering wheel angle. To evaluate the performance of vehicle with variable steering ratio, simulations are conducted based on an objective evaluation index, which consists of quadratic cost functions of vehicle lateral deviation, steering angular speed, vehicle lateral acceleration and roll angle. By using the optimized data from the simulation results, a Takagi-Sugeno fuzzy neural network is designed for the steering ratio control. In order to test and validate the proposed controller, a series of comparison experiments are conducted on a closed-loop driver-vehicle system, including lemniscate curve test and double lane-change test. The results demonstrate that compared with a conventional steering system with fixed steering ratio, the proposed system can not only improve steering agility at low speed and steering stability at high speed, but also reduce driver’s workload in critical driving conditions.

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.

Influence of Front Wheel Alignment Parameters on Handling Stability of Vehicle Based on Joint Simulation

2014 ◽  
Vol 716-717 ◽  
pp. 832-836
Author(s):  
Hui Wang ◽  
Xiao Zhi Wang
Keyword(s):  
Steering System ◽  
Front Wheel ◽  
Front Axle ◽  
Lateral Acceleration ◽  
Steering Wheel ◽  
Initial Alignment ◽  
Vehicle Handling ◽  
Joint Simulation ◽  
Hydraulic Steering ◽  
Lane Change Test

This paper uses AMESim software to establish simulation model of SGA170 mine truck full hydraulic steering system, and validates the correctness of the proposed model. Through the joint simulation, vehicle steady circular test, double lane change test and steering wheel angle input test are verified. By changing the initial alignment parameters of front axle, vehicle handling performance are tested through the same simulation test, and yaw velocity, and the curves of lateral acceleration and vehicle roll angle describing vehicle handling stability are obtained, which provides a reference for the design and improvement of the similar mine truck selection.

The Variable Steering Ratio for Vehicle Steer by Wire System Using Hyperbolic Tangent Method

2014 ◽  
Vol 575 ◽  
pp. 781-784 ◽  
Author(s):  
Sheikh Muhammad Hafiz Fahami ◽  
Hairi Zamzuri ◽  
Saiful Amri Mazlan ◽  
Sarah Atifah Saruchi
Keyword(s):  
High Speed ◽  
Control Algorithm ◽  
Steering System ◽  
Steering Wheel ◽  
Hyperbolic Tangent ◽  
Steer By Wire ◽  
Tangent Method ◽  
Vehicle Maneuver ◽  
Wire System

In conventional steering system, during the parking maneuver, driver required large turned on the steering wheel to move the fornt tyre. Thus, it will increase the driver burden when turned the steering wheel. The feature of variable steering ratio (VSR), help to reduce driver burden. Moreover, it improves the vehicle maneuver at lower and high speed. This paper, proposed a control algorithm of variable steering ratio (VSR) in vehicle SBW system. The concept of hyperbolic tangent is used where it not only improved the maneuverability at lower speed, but also reduces the driver burden on the steering wheel. To investigate the effectiveness of the proposed VSR algorithm, the result is compared with conventional steering system

scholarly journals Electronic Control System for Steer by Wire

2021 ◽  
Vol 9 (VI) ◽  
pp. 4161-4166
Author(s):  
Eeshan Ranade
Keyword(s):  
Electric Power ◽  
Engine Performance ◽  
Steering System ◽  
Electric Power System ◽  
Driving Safety ◽  
Steering Wheel ◽  
Hydraulic Systems ◽  
Compact Structure ◽  
Steer By Wire ◽  
Improved Performance

Automobile industry’s focus is on efficiency, safety and performance has resulted in the rapid introduction of electronics in vehicle safety systems and engine management. Mechanical and Hydraulic systems are now gradually being replaced by electronic controllers to achieve the objectives of optimizing power consumption, improving driver convenience, and maximizing driver safety resulting in an overall improved performance and experience. Vehicle steering systems have transitioned from mechanical to hydraulic power to an electric power assisted steering system and now to the state of the art, Steer by Wire (SbW) system. Traditional mechanical systems included a steering wheel, column, gear, rack and pinion and did not support any power steering. The next generation hydraulic systems were more stable, safer and required comparatively lesser effort. Electric or DC motors drove the Electric Power System addressing the drawbacks of the hydraulic systems especially those related to environment and acoustics with the added advantage of a compact structure and power-on-demand engine performance. By-wire steering technologies was originally introduced in the Concord aircraft in 1970s. The SbW is a steering system with no steering column. The mechanical interface between the steering wheel and the wheels is replaced with by-wire electrical connection/electronic actuators. SbW system has significant advantages in terms of driving safety due to the availability of the steering command in electronic form and the removal of the steering shaft, cruising comfort with driving manoeuvring due to no space constraint and favourable to the environment with the non-usage of hydraulic oils.

Steering Analysis of Multi-Axle Vehicle Based on ADAMS/VIEW

2012 ◽  
Vol 538-541 ◽  
pp. 2878-2881
Author(s):  
Yong Qiang Zhu ◽  
Ping Xia Zhang
Keyword(s):  
High Speed ◽  
Large Angle ◽  
Lateral Acceleration ◽  
Steering Wheel ◽  
Low Speed ◽  
Vehicle Simulation ◽  
Yaw Rate ◽  
Wheel Turning ◽  
Double Phase ◽  
All Wheel Steering

In order to improve low-speed flexibility and high-speed handling and stability of multi-axle vehicle, a double-phase steering system was designed with planetary gear system. An in-phase steering mode is used when steering wheel turning in small angle. A adverse-phase steering mode is used when steering wheel turning in large angle. A five-axle vehicle simulation model was established with software ADAMS/VIEW. The research of all-wheel steering and non-all-wheel steering for high speed and low speed was respectively processed. When running in high speed, the lateral acceleration and yaw rate of the centroid are significantly lower when rear wheels steering in in-phase mode than the rear wheels not turning, which makes the possibility of roll and drift decrease, when vehicle overtaking in high-speed. When running in low speed, compared with rear wheels not steering, when rear wheels sreering, lateral acceleration increased by only 12.8%, yaw rate is 17.3% higher, diameter of the centroid trajectory is reduced by 12.9%, which greatly increases the mobility and flexibility of the multi-axle vehicle when turning at low speed.

scholarly journals A Hysteresis-Based Steering Feel Model for Steer-by-Wire Systems

2017 ◽  
Vol 2017 ◽  
pp. 1-14
Author(s):  
M. Selçuk Arslan
Keyword(s):  
Mathematical Model ◽  
Steering System ◽  
Steering Wheel ◽  
Hysteresis Model ◽  
Steering Feel ◽  
Proposed Model ◽  
Steer By Wire ◽  
Wheel Torque ◽  
Tire Dynamics ◽  
The Mathematical Model

A mathematical model of steering feel based on a hysteresis model is proposed for Steer-by-Wire systems. The normalized Bouc-Wen hysteresis model is used to describe the steering wheel torque feedback to the driver. By modifying the mathematical model of the hysteresis model for a steering system and adding custom parameters, the availability of adjusting the shape of steering feel model for various physical and dynamic conditions increases. Addition of a term about the tire dynamics to the steering feel model renders the steering wheel torque feedback more informative about the tire road interaction. Some simulation results are presented to establish the feasibility of the proposed model. The results of hardware-in-the-loop simulations show that the model provides a realistic and informative steering feel.

Ranking Tires for Heavy Truck Steering Feel Performance Using a Simulation Model2

2006 ◽  
Vol 34 (1) ◽  
pp. 64-82 ◽  
Author(s):  
S. L. Haas
Keyword(s):  
Vehicle Dynamics ◽  
Performance Metrics ◽  
Steering System ◽  
Lateral Acceleration ◽  
Steering Wheel ◽  
Dynamics Model ◽  
Objective Testing ◽  
Steering Feel ◽  
Wheel Torque ◽  
Heavy Truck

Abstract The effects of seven different tire sets on heavy truck steering feel characteristics were demonstrated from objective testing. Also, the steering behavior and vehicle dynamics were modeled in order to determine how well the resulting simulations could rank the steering performance of the tire sets relative to the objective results. The objective testing was performed using a 6×4 tractor with a two-axle flatbed semi-trailer. Measured data included steering wheel torque, steering wheel angle, and lateral acceleration behavior resulting from on-center-type steering tests. In addition, the hydraulic pressure from the power steering system was also measured. The tests consisted of multiple cycles at 0.2 Hz and ±0.2 g. Steering-related performance metrics were selected and calculated based on the interaction between measured parameters. The same test procedure was also applied using an analytical model of a steering system. The input was steering wheel torque, and outputs included the road wheel angles at the steer axle, which were then fed into a commercial vehicle dynamics model providing the vehicle dynamics behavior along with feedback required for the steering model (e.g., king pin moments). Tire loads and slip angles were also provided by the vehicle dynamics model and used as input to a tire model predicting tire force and moment behavior. The related metrics were subsequently computed and compared to the measured results. Effects of the different tire sets on steering characteristics were seen from both the objective and simulation tests. Seven performance metrics were applied in a ranking comparison between measured and modeled results. Correlation of the modeled to measured metrics ranged from R2 values of 0.40 to 0.99 for the seven metrics considered.

Haptic control of steer-by-wire systems using parameter estimation of rack system lateral load model

2021 ◽  
pp. 095440702110275
Author(s):  
Jaepoong Lee ◽  
Kwang Il Kim ◽  
Minjun Kim ◽  
Kyongsu Yi
Keyword(s):  
Parameter Estimation ◽  
Limit Cycle ◽  
Sampling Rate ◽  
Lateral Load ◽  
Steering System ◽  
Haptic Rendering ◽  
Steering Wheel ◽  
Load Model ◽  
Steer By Wire ◽  
Haptic Control

This paper describes a haptic control of steer-by-wire systems for rendering the conventional steering system under various road conditions using parameter estimation of rack system lateral load model. To design the conventional steering system model, the dynamic model of a rack system has been developed as a mass-spring-damper system with a friction model. An online parameter estimation of the rack system was designed to consider the various road conditions in the haptic rendering. In a steering wheel system, which is a haptic device, a limit cycle, and instable behavior can occur due to the sampling rate and quantization. To prevent the limit cycle and instable behavior, a passivity analysis was conducted and constraint conditions of the rendering coefficient was derived. The haptic control algorithm is designed to render the conventional steering system without limit cycles using passivity conditions. The performance of the proposed controller was evaluated via both computer simulations and vehicle tests under various steering conditions. The results demonstrate that the proposed algorithm ensures haptic rendering performance on dry and wet asphalt conditions.

scholarly journals Angle Sensor Module for Vehicle Steering Device Based on Multi-Track Impulse Ring

Sensors ◽  
2019 ◽  
Vol 19 (3) ◽  
pp. 526 ◽  
Author(s):  
Seong Woo ◽  
Young Park ◽  
Ju Lee ◽  
Chun Han ◽  
Sungdae Na ◽  
...  
Keyword(s):  
Signal Processing ◽  
Electromagnetic Interference ◽  
High Speed ◽  
Electronic Control Unit ◽  
Steering System ◽  
Steering Wheel ◽  
Module Structure ◽  
Angle Sensor ◽  
Technical Requirements ◽  
Sensor Module

In step with the development of Industry 4.0, research on automatic operation technology and components related to automobiles is continuously being conducted. In particular, the torque angle sensor (TAS) module of the steering wheel system is considered to be a core technology owing to its precise angle, torque sensing, and high-speed signal processing. In the case of conventional TAS modules, in addition to the complicated gear structure, there is an error in angle detection due to the backlash between the main and sub-gear. In this paper, we propose a multi-track encoder-based vehicle steering system, which is incorporated with a TAS module structure that minimizes the number of components and the angle detection error of the module compared with existing TAS modules. We also fabricated and tested an angle detection signal processing board and evaluated it on a test stand. As a result, we could confirm its excellent performance of an average deviation of 0.4° and applicability to actual vehicles by evaluating its electromagnetic interference (EMI) environmental reliability. The ultimate goal of the TAS module is to detect the target steering angle with minimal computation by the steering or main electronic control unit (ECU) to meet the needs of the rapidly growing vehicle technology. The verified angle detection module can be applied to an actual steering system in accordance with the mentioned technical requirements.

scholarly journals Variable steering ratio design and handling stability research for steer-by-wire forklift

2019 ◽  
Vol 11 (3) ◽  
pp. 168781401882289 ◽  
Author(s):  
Junjie Huang ◽  
Benxian Xiao
Keyword(s):  
Neural Network ◽  
Fuzzy Neural Network ◽  
Lateral Acceleration ◽  
Ratio Method ◽  
Dynamic Variable ◽  
Advantages And Disadvantages ◽  
Control Scheme ◽  
Steer By Wire ◽  
Fuzzy Neural ◽  
Verification Model

For the TFC35 steer-by-wire forklift, a linear 3-degree-of-freedom forklift model is given, which provides a verification model for variable steering ratio design. The concept of ideal steering ratio is expounded. The variable steering ratio algorithm based on constant yaw rate gain and the variable steering ratio algorithm based on constant lateral acceleration gain are studied. A variable steering ratio algorithm based on two kinds of gain combination is proposed. The advantages and disadvantages of the above three static variable steering ratio algorithms based on constant gain are simulated and analyzed. Aiming at complex working conditions, a dynamic variable steering ratio control scheme based on fuzzy neural network is proposed. The definition, implementation steps, and adjustment algorithms of each layer of fuzzy neural network are given. The final experiment results show that the dynamic variable steering ratio method based on fuzzy neural network is more resistant to the disturbance of its own parameters and can be used in complex dynamic conditions, which helps to improve the handling stability of the forklift.

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