Effects of Tracton Force Distributon Control with Additonal Rear Wheel Steer on Turning Behavior of 4WD Vehicle

To improve handling and stability for distributed drive electric vehicles (DDEV), the study on four wheel steering (4WS) systems can improve the vehicle driving performance through enhancing the tracking capability to desired vehicle state. Most previous controllers are either a large amount of calculation, or requires a lot of experimental data, these are relatively time-consuming and laborious. According to the front and rear wheel steering angle of DDEV can be distributed independently, a novel controller named internal model controller with fractional-order filter (IMC-FOF) for 4WS systems is proposed and studied in this paper. The IMC-FOF is designed using the internal model control theory and compared with IMC and PID controller. The influence of time constant and fractional-order parameters which is optimized using quantum genetic algorithms (QGA) on tracking ability of vehicle state are also analyzed. Using a production vehicle as an example, the simulation is performed combining Matlab/Simulink and CarSim. The comparison results indicated that the proposed controller presents performance to distribute the front and rear wheel steering angle for ensuring better tracking capability to desired vehicle state, meanwhile it possesses strong robustness.

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Design and experiment of multi-mode steering system of agricultural machinery for hilly and mountainous area

Advances in Mechanical Engineering ◽

10.1177/16878140211034827 ◽

2021 ◽

Vol 13 (7) ◽

pp. 168781402110348

Author(s):

Kai Hu ◽

Wenyi Zhang

Keyword(s):

Negative Impact ◽

System Development ◽

Coupling Model ◽

Maximum Error ◽

Rear Wheel ◽

Steering System ◽

Mountainous Area ◽

Agricultural Machinery ◽

Hydraulic Cylinders ◽

Multi Mode

In order to improve the steering flexibility of agricultural machinery in hilly and mountainous areas, a multi-mode steering system with front wheel steering, rear wheel steering, and four-wheel steering has been developed. The hydraulic steering system based on load sensitivity principle and proportion-integration-differentiation (PID) controlling algorithm was designed, which overcomes the negative impact of external load changes on flow control accuracy. The mechanical-hydraulic-controlling coupling model established in the AMESim and the sequential quadratic combinatorial optimization algorithm (SQCOA) was adopted to obtain the optimal combination of PID parameters. The simulation results demonstrate that the parameters such as pressure, speed, displacement of hydraulic cylinders, etc. in different steering modes meet the design requirements. To examine and verify the system performance, the test platform was researched and developed for conducting steering radius and displacement measurement. The experimental data illustrated that the front and rear hydraulic cylinders have good synchronization accuracy in four-wheel steering mode, and the fast switch of steering mode can be realized. The maximum error rate of is steering radius 4.21% and 3.77%, respectively, in two-wheel steering and four-wheel steering modes. The research methods and conclusions can provide a theoretical basis and reference for the other steering system development.

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Variable wheelbase reference for vehicle with active front and rear-wheel steering

Vehicle System Dynamics ◽

10.1080/00423114.2021.1921814 ◽

2021 ◽

pp. 1-17

Author(s):

J. Loyola ◽

D. Margolis

Keyword(s):

Rear Wheel

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MYMOSA: Towards the Simulation of Realistic Motorcycle Manoeuvres by Coupling Multibody and Control Techniques

Volume 17: Transportation Systems ◽

10.1115/imece2008-67297 ◽

2008 ◽

Cited By ~ 2

Author(s):

David Moreno Giner ◽

Claudio Brenna ◽

Ioannis Symeonidis ◽

Gueven Kavadarlic

Keyword(s):

Rear Wheel ◽

Open Loop ◽

Dynamics Simulation ◽

Engine Torque ◽

Multibody Model ◽

Physiological Limits ◽

Research Activities ◽

Analysis Technique ◽

First Results ◽

And Control

Multibody dynamics simulation technology can provide a great help to understand and analyze motorcycle dynamics. In fact, its application in this field has grown very fast in the last years. However, apart from the mathematical model of the vehicle, a virtual rider is essential in order to properly simulate a motorcycle. This is due to the unstable nature of two-wheeled vehicles, which makes them very difficult to simulate by using open-loop maneuvers. The problem of developing a virtual rider for motorcycles has already been covered in literature but most of the proposed control algorithms achieved their purpose without considering the physiological limits of the rider. The objective of the research activities presented here are the preliminary development of a realistic virtual rider based on an experimental campaign and its subsequent simulation together with a detailed multibody model of a motorcycle. Special emphasis was put on making the rider model as simple as possible to facilitate the posterior design of the controller. Real rider movements were measured under laboratory conditions by means of the Motion Analysis technique. Several volunteers with different riding experiences, gender and anthropometry were involved in the experiments in order to provide a valid dataset for the analysis. For the present research, the virtual rider controls the direction of the motorcycle by means of both a torque on the handlebars and the movement of his body. The upper part of the rider’s body was modeled as an inverted pendulum. With regard to the longitudinal dynamics, the motorcycle is controlled by means of the brake torques and by the engine torque, which is transmitted to the rear wheel by means of a simplified model of the chain. First results of the developed virtual rider are presented at the end of this paper.

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Feedback control framework for car-like robots using the unicycle controllers

Robotica ◽

10.1017/s0263574711000750 ◽

2011 ◽

Vol 30 (4) ◽

pp. 517-535 ◽

Cited By ~ 23

Author(s):

Maciej Michałek ◽

Krzysztof Kozłowski

Keyword(s):

Stability Analysis ◽

Feedback Control ◽

Closed Loop ◽

Path Following ◽

Rear Wheel ◽

Front Wheel ◽

Steering Angle ◽

Formal Stability ◽

Control Framework ◽

Error Dynamics

SUMMARYThe paper introduces a novel general feedback control framework, which allows applying the motion controllers originally dedicated for the unicycle model to the motion task realization for the car-like kinematics. The concept is formulated for two practically meaningful motorizations: with a front-wheel driven and with a rear-wheel driven. All the three possible steering angle domains for car-like robots—limited and unlimited ones—are treated. Description of the method is complemented by the formal stability analysis of the closed-loop error dynamics. The effectiveness of the method and its limitations have been illustrated by numerous simulations conducted for the three main control tasks, namely, for trajectory tracking, path following, and set-point regulation.

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