C112 Vehicle Active Steering Control For Dealing With Sensors Noise : The Approach Using Disturbance Estimation Method Based On Sliding Mode Observer

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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Design and Control of Disc PMSM Directly Driven Wheel for Tramcar

Advances in Mechanical Engineering ◽

10.1155/2014/747636 ◽

2014 ◽

Vol 6 ◽

pp. 747636 ◽

Cited By ~ 2

Author(s):

Zhenggang Lu ◽

Xiaojie Sun ◽

Jin Zhang

Keyword(s):

Rotational Speed ◽

Control Method ◽

Sliding Mode ◽

Control Strategies ◽

Permanent Magnet Synchronous Motor ◽

Central Line ◽

Steering Control ◽

Wheel Pair ◽

Active Steering ◽

Active Steering Control

A new solution of disc permanent magnet synchronous motor (PMSM) directly driven wheel is proposed as a design customized for low floor tramcar. And the motors are overhung on the bogie frame to make the weight as the sprung mass. Meanwhile, the universal coupling is installed between the driven wheel and motor shaft. A disc PMSM is designed according to the demand of traction power. The motors are not only traction and steering actuators but are also regarded as sensors to obtain the rotational speed of motor directly driven wheel. Through the obtained data, an active sensorless steering control method is applied using the relative rotational speed between wheel pair. Finally, models combined with motor control and steering control are set up to check the control strategies. The simulation results indicate that sliding mode observer has the functionality of estimating the rotating speed with high accuracy for active steering control. The tramcar exhibits self-steering and better negotiation under active steering control. The tramcar is under a better condition of running along the central line of track with small attack angle and low power consumption while passing the shape curve track.

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A new robust combined control system for improving manoeuvrability, lateral stability and rollover prevention of a vehicle

Proceedings of the Institution of Mechanical Engineers Part K Journal of Multi-body Dynamics ◽

10.1177/1464419319887818 ◽

2019 ◽

Vol 234 (1) ◽

pp. 198-213 ◽

Cited By ~ 2

Author(s):

Mohammad Amin Saeedi

Keyword(s):

Control System ◽

Dynamic Model ◽

Control Method ◽

Sliding Mode ◽

Lateral Stability ◽

Steering Control ◽

Nonlinear Dynamic Model ◽

Active Steering ◽

Combined Control ◽

Active Steering Control

This paper presents a new effective method in order to achieve an appropriate performance for a four-wheeled vehicle during different conditions. The main goal of the study is focused on the handling improvement and lateral stability increment of the vehicle using a robust combined control system. First, in order to increase the vehicle's manoeuvrability, an active steering control system is proposed based on the sliding mode control method and using the simplified dynamic model. The tracking of the desired values of the yaw rate and lateral velocity of the vehicle is the main purpose for using the controller. Also, in order for verifying the performance of the sliding mode controller, the linearization feedback control method is used to design the active steering control system. Moreover, to improve the directional stability of the vehicle, a new active roll control system is proposed. In this control system, the roll angle is considered as the state variable as well as the active anti-roll-bar is utilized as an actuator to generate the roll moment. Then, a 14-degrees-of-freedom nonlinear dynamic model of the vehicle validated using CarSim software is utilized. Afterward, the performance of the designed combined control system is investigated at various velocities. The simulation results confirm that the combined control system has an important effect on vehicle's manoeuvrability improvement and its lateral stability increment, especially during severe transient manoeuvre.

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Active steering control of vehicle by sliding mode control - switching function design using SDRE -

2010 IEEE International Conference on Control Applications ◽

10.1109/cca.2010.5611160 ◽

2010 ◽

Cited By ~ 5

Author(s):

Yuichi Ikeda

Keyword(s):

Sliding Mode Control ◽

Sliding Mode ◽

Switching Function ◽

Steering Control ◽

Mode Control ◽

Active Steering ◽

Function Design ◽

Active Steering Control

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

Advances in Mechanical Engineering ◽

10.1177/1687814019892108 ◽

2019 ◽

Vol 11 (11) ◽

pp. 168781401989210 ◽

Cited By ~ 1

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.

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Active steering control of railway vehicles using linear quadratic Gaussian (LQG)

10.1117/12.784125 ◽

2007 ◽

Author(s):

Min-Soo Kim ◽

Yeun-Sub Byun ◽

Joon-Hyuk Park ◽

Won-Hee You

Keyword(s):

Steering Control ◽

Linear Quadratic ◽

Linear Quadratic Gaussian ◽

Railway Vehicles ◽

Active Steering ◽

Active Steering Control

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Active-steering control system based on human hand impedance properties

2010 IEEE International Conference on Systems, Man and Cybernetics ◽

10.1109/icsmc.2010.5642313 ◽

2010 ◽

Cited By ~ 4

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

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A Quaternion-Based Sliding Mode Observer for Gyro-Bias Estimation and Attitude Reconstruction

Volume 4: Dynamics, Vibration, and Control ◽

10.1115/imece2019-10464 ◽

2019 ◽

Author(s):

Yuan Tian ◽

Marc Compere ◽

Sergey Drakunov

Keyword(s):

Sliding Mode ◽

Estimation Method ◽

The Body ◽

Sliding Mode Observer ◽

Measurement Unit ◽

Bias Estimation ◽

Simple Formulation ◽

The Real ◽

Observer Error ◽

Gyro Bias

Abstract Localization accuracy is one of the most important parts of Unmanned Vehicle Systems, Automated Vehicles, Robotics and Navigation. The 6-DOF Inertial Measurement Unit (IMU) is a commonly used device for inertial navigation and is composed of a 3-axis accelerometer and 3-axis gyroscope. The body-fixed IMU measurements are combined with initial values to produce a position and orientation estimate in the inertial frame with every new measurement. However, IMU performance is greatly degraded by bias, scale-factor, non-orthogonality, temperature, and noise. This paper develops a sliding mode observer specifically focused on gyroscope bias estimation to improve gyro measurement results. The work presented here improves the performance of tilt sensors equipped in a commercially available smartphones with accelerometers and gyroscopes. The algorithm uses quaternions to avoid the well-known Euler angle singularities also known as gimbal lock. The observed gyro-bias can be used to reconstruct an improved estimation of the real attitude. A sliding-mode observer was constructed, and A* Matrix stability criterion were used to guarantee observer error convergence in finite time. The algorithm was verified using both a simulated IMU model and experimental tests with a custom designed rotational platform. Simulation tests used a predefined gyros-bias to ensure the algorithm-estimated results converged to the correct value. Simulation results show the observer error quickly converges to zero and the gyro-bias estimation converged to the expected values. The results also show that the proposed method is very effective for reconstructing the real attitude using the observed gyro-bias. This study presents a fast, simple gyro-bias estimation method that can help reconstruct the real attitude with a simple formulation that eliminates complicated constraints.

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Active steering control for autonomous vehicles based on a driver-in-the-loop platform: A case study of collision avoidance

Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering ◽

10.1177/0959651819847005 ◽

2019 ◽

Vol 233 (10) ◽

pp. 1422-1437

Author(s):

Keji Chen ◽

Xiaofei Pei ◽

Daoyuan Sun ◽

Zhenfu Chen ◽

Xuexun Guo ◽

...

Keyword(s):

Risk Assessment ◽

Model Predictive Control ◽

Collision Avoidance ◽

Predictive Control ◽

Autonomous Vehicle ◽

Steering Control ◽

Safe Driving ◽

Active Steering ◽

Active Steering Control

Leveraging the advancements in sensor and mapping technologies, the collision-free autonomous vehicle becomes possible in the future. In this article, a case study of collision avoidance by active steering control is presented and verified by a driver-in-the-loop platform. The proposed control system integrates a risk assessment algorithm and a hierarchical model predictive control approach to ensure a safe driving. First, a fuzzy logic is used to estimate the potential conflict. Besides, a nonlinear model predictive control is introduced in the upper layer of the model predictive controller to generate a collision-free trajectory. Furthermore, the lower layer determines the optimal steering angle based on the linear time-variant model predictive control to follow the replanning path. The performance of the controller has been evaluated in the real-time driver-in-the-loop test. The results show that the autonomous vehicle is able to avoid the collision with the surrounding vehicle that is operated by a real driver, and the performance of collision avoidance is improved by means of the risk assessment.

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