On Reverse Control Strategy and Anti-Wind Disturbance Analysis of Automotive EPS System

2010 ◽  
Vol 39 ◽  
pp. 529-534
Author(s):  
Jing Bo Zhao ◽  
Shao Yi Bei ◽  
Lan Chun Zhang
Keyword(s):  
Control Strategy ◽  
Lateral Displacement ◽  
Lateral Acceleration ◽  
Vehicle Stability ◽  
Wind Disturbance ◽  
Steering Control ◽  
Lateral Direction ◽  
Safety Improvement ◽  
Design Function ◽  
Steering Torque

Under the special situation of lateral wind disturbance, the lateral direction was resulted from the conventional obverse control strategy and influenced the vehicle stability. The 2-DOF full-vehicle model with the lateral wind disturbance and EPS dynamic model were designed. Reverse control strategy was designed where the EPS motor provided active steering control to prevent vehicle deflection with the input signal of steering torque under the lateral wind disturbance. In the EPS working process, the reverse control strategy and obverse control strategy were switched according to the drive situation to obtain the best vehicle stability. Anti-disturbance simulation was executed and the results shown that the yaw rate, the slideslip angle, the lateral acceleration and the lateral displacement have been weakened, and the vehicle stability is enhanced. The design of reverse control strategy has engineering significance to the overall design, function enhancement and optimization and steering manipulation and safety improvement.

Computer-Aided Design of Curved Assistance Characteristic of EPS System

2010 ◽  
Vol 39 ◽  
pp. 598-601
Author(s):  
Bing Zhou ◽  
Shao Yi Bei ◽  
Jing Bo Zhao
Keyword(s):  
Dynamic Model ◽  
Control Strategy ◽  
Computer Aided Design ◽  
Overall Design ◽  
Safety Improvement ◽  
Key Technologies ◽  
Computer Aided ◽  
Design Function ◽  
Engineering Significance ◽  
Aided Design

The control strategy is one of the key technologies of EPS system, and the assistance characteristic has great importance to the vehicle handiness and road feeling. Based on the EPS dynamic model, the curved assistance characteristic is designed. The curved assistance characteristic has the superiority to find the better balance between handiness and road feeling. It has engineering significance to the overall design, function enhancement and optimization and steering manipulation and safety improvement.

Vehicle Dynamics Control Based on Linear Quadratic Regulator

2009 ◽  
Vol 16-19 ◽  
pp. 876-880
Author(s):  
Si Qi Zhang ◽  
Tian Xia Zhang ◽  
Shu Wen Zhou
Keyword(s):  
Control Strategy ◽  
Vehicle Dynamics ◽  
Linear Quadratic Regulator ◽  
Active Safety ◽  
Vehicle Stability ◽  
Steering Control ◽  
Linear Quadratic ◽  
Yaw Rate ◽  
Vehicle Dynamics Control ◽  
Yaw Moment

The paper presents a vehicle dynamics control strategy devoted to prevent vehicles from spinning and drifting out. With vehicle dynamics control system, counter braking are applied at individual wheels as needed to generate an additional yaw moment until steering control and vehicle stability were regained. The Linear Quadratic Regulator (LQR) theory was designed to produce demanded yaw moment according to the error between the measured yaw rate and desired yaw rate. The results indicate the proposed system can significantly improve vehicle stability for active safety.

A New Control Strategy to Reduce Steering Torque Without Perceptible Vibration for Vehicles Equipped With Electric Power Steering

2010 ◽  
Vol 132 (5) ◽  
Author(s):  
Masahiko Kurishige ◽  
Osamu Nishihara ◽  
Hiromitsu Kumamoto
Keyword(s):  
Angular Velocity ◽  
Electric Power ◽  
Control Strategy ◽  
Steering Wheel ◽  
Velocity Control ◽  
Steering Control ◽  
Electric Power Steering ◽  
Power Steering ◽  
Wide Range ◽  
Steering Torque

This paper proposes a new electric power steering control strategy, which significantly reduces the effort needed to change the steering direction of stationary vehicles. Previous attempts to reduce undesirable steering vibration have failed to reduce the steering torque because high-assist gains tend to produce oscillation or increase noise sensitivity. Herein, to eliminate this vibration, a new control strategy was developed based on pinion angular velocity control using a newly developed observer based on a simplified steering model. Tests yielded excellent estimations of the pinion angular velocity, and this made it possible to eliminate vibration at all steering wheel rotation speeds. Experiments with a test vehicle confirmed significant steering torque reduction, over a wide range of steering wheel speeds, without vibration transmission to the driver. The proposed control strategy allowed use of an assist gain more than three times higher than is conventional. Additionally, the proposed control strategy does not require supplemental sensors.

Investigation of a steering defect and its compensation using a steering-torque control strategy in an extreme driving situation

2017 ◽  
Vol 232 (4) ◽  
pp. 534-546 ◽  
Author(s):  
Biao Ma ◽  
Yahui Liu ◽  
Xuewu Ji ◽  
Yiyong Yang
Keyword(s):  
Control Strategy ◽  
Traffic Accident ◽  
Torque Control ◽  
Lateral Acceleration ◽  
Extreme Situation ◽  
Linear Region ◽  
Driving Situation ◽  
Torque Control Strategy ◽  
Simulation Results ◽  
Steering Torque

Road feel is mostly represented by the steering torque or the steering-torque gradient of the lateral acceleration, and it is used by the driver to adjust the vehicle states and to control the vehicle. A steering defect indicated by a decreasing steering torque with increasing lateral acceleration makes the driver lose road feel and may result in a wrong operation and even a traffic accident. The case where the driver loses road feel can be regarded as an extreme driving situation. This paper investigates the steering defect and proposes a steering-torque-based control strategy to improve road feel in a vehicle in an extreme driving situation. The steering torque and the steering-torque gradient extended to the non-linear region of the vehicle are analysed and simulated, and both the simulation results and the experimental results indicate that the steering defect exists when the lateral acceleration is relatively high. Thus, a steering-torque control strategy is proposed on the basis of the torque gradient to improve road feel in an extreme situation. This steering-torque control strategy helps to maintain road feel by employing an optimized steering-torque threshold. The simulation results of the vehicle with steering-torque control show improved road feel in comparison with that without steering-torque control.

Lateral obstacle avoidance control based on driving behavior recognition of the preceding vehicles in adjacent lanes

2020 ◽  
Vol 68 (10) ◽  
pp. 880-892
Author(s):  
Youguo He ◽  
Xing Gong ◽  
Chaochun Yuan ◽  
Jie Shen ◽  
Yingkui Du
Keyword(s):  
Obstacle Avoidance ◽  
Lateral Displacement ◽  
Longitudinal Velocity ◽  
Driving Behavior ◽  
Lateral Acceleration ◽  
Lateral Motion ◽  
Behavior Recognition ◽  
Dynamic Surface ◽  
Lane Changing ◽  
The Impact

AbstractThis paper proposes a lateral lane change obstacle avoidance constraint control simulation algorithm based on the driving behavior recognition of the preceding vehicles in adjacent lanes. Firstly, the driving behavior of the preceding vehicles is recognized based on the Hidden Markov Model, this research uses longitudinal velocity, lateral displacement and lateral velocity as the optimal observation signals to recognize the driving behaviors including lane-keeping, left-lane-changing or right-lane-changing; Secondly, through the simulation of the dangerous cutting-in behavior of the preceding vehicles in adjacent lanes, this paper calculates the ideal front wheel steering angle according to the designed lateral acceleration in the process of obstacle avoidance, designs the vehicle lateral motion controller by combining the backstepping and Dynamic Surface Control, and the safety boundary of the lateral motion is constrained based on the Barrier Lyapunov Function; Finally, simulation model is built, and the simulation results show that the designed controller has good performance. This active safety technology effectively reduces the impact on the autonomous vehicle safety when the preceding vehicle suddenly cuts into the lane.

scholarly journals Coordinated Stability Control Strategy for Intelligent Electric Vehicles Using Vague Set Theory

2020 ◽  
Vol 2020 ◽  
pp. 1-17
Author(s):  
Yilin He ◽  
Jian Ma ◽  
Xuan Zhao ◽  
Ruoyang Song ◽  
Xiaodong Liu ◽  
...  
Keyword(s):  
Electric Vehicles ◽  
Control Strategy ◽  
Coordinated Control ◽  
Stability Control ◽  
Lateral Acceleration ◽  
Vague Set ◽  
Yaw Rate ◽  
Stability Performance ◽  
Control Target ◽  
Simulation Results

Aiming at improving the tracking stability performance for intelligent electric vehicles, a novel stability coordinated control strategy based on preview characteristics is proposed in this paper. Firstly, the traditional stability control target is introduced with the two degrees of freedom model, which is realized by the sliding mode control strategy. Secondly, an auxiliary control target further amending the former one with the innovation formulation of the preview characteristics is established. At last, a multiple purpose Vague set leverages the contribution of the traditional target and the auxiliary preview target in various vehicle states. The proposed coordinated control strategy is analyzed on the MATLAB/CarSim simulation platform and verified on an intelligent electric vehicle established with A&D5435 rapid prototyping experiment platform. Simulation and experimental results indicate that the proposed control strategy based on preview characteristics can effectively improve the tracking stability performance of intelligent electric vehicles. In the double lane change simulation, the peak value of sideslip angle, yaw rate, and lateral acceleration of the vehicle is reduced by 13.2%, 11.4%, and 8.9% compared with traditional control strategy. The average deviations between the experimental and simulation results of yaw rate, lateral acceleration, and steering wheel angle are less than 10% at different speeds, which demonstrates the consistency between the experimental and the simulation results.

scholarly journals Steering Control Method for an Underactuated Unicycle Robot Based on Dynamic Model

2018 ◽  
Vol 2018 ◽  
pp. 1-13
Author(s):  
Hongzhe Jin ◽  
Yang Zhang ◽  
Hui Zhang ◽  
Zhangxing Liu ◽  
Yubin Liu ◽  
...  
Keyword(s):  
Angular Velocity ◽  
Control Strategy ◽  
Pitch Angle ◽  
Control Method ◽  
Steering Control ◽  
Dynamics Model ◽  
Gyroscope System ◽  
Simulation Results ◽  
Balance Structure ◽  
Gyroscope Precession

This paper proposes a lateral balancing structure based on precession effect of double-gyroscopes and its associated control strategy of the steering for an underactuated unicycle robot. Double-gyroscopes are symmetrically designed on the top of the unicycle robot and utilized to adjust the lateral balance of system. Such design can inhibit the disturbance of the gyroscope system to the pitch angle and is beneficial to maintain the lateral balance in the case of large roll angle fluctuations. Based on the analysis of the dynamics model, the gyroscope precession effects will be caused by the angular velocity of the bottom wheel and the roll angular velocity, i.e., resulting in a torque in the direction of the yaw. Then, a rapid response control strategy is proposed to use the torque to control the steering. Simulation results demonstrate the rationality of the lateral balance structure and the feasibility of the steering control method.

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