Design, Modeling and Simulation of a Novel Omni-Directional Steering System

2013 ◽  
Vol 433-435 ◽  
pp. 1857-1861
Author(s):  
Xiao Pei Li ◽  
Zu Tao Zhang
Keyword(s):  
Performance Evaluation ◽  
Modeling And Simulation ◽  
Electric Vehicle ◽  
Steering System ◽  
Front Wheel ◽  
Simulation Environment ◽  
Zero Radius ◽  
The Stability

This paper presents a novel omni-directional steering system for electric vehicle. In order to guarantee the stability and the steerability of the electric vehicle, the proposed novel steering system consists of 2 conditional front wheel steering configuration and 4 wheel omni-directional independent steering configuration. The design of the 2 conditional front wheel steering configuration can guarantee the stability and the steerability of the vehicle. And the four wheel independent steering can achieve omni-directional motions such as zero radius turning (ZRT) and later parking (LP). This system was tested in simulation environment, and the last performance evaluation demonstrates the validity of the proposed omni-directional steering system.

A novel path tracking approach considering safety of the intended functionality for autonomous vehicles

2021 ◽  
pp. 095440702110205
Author(s):  
Huiran Wang ◽  
Qidong Wang ◽  
Wuwei Chen ◽  
Linfeng Zhao ◽  
Dongkui Tan
Keyword(s):  
Autonomous Vehicles ◽  
Autonomous Vehicle ◽  
Coordinated Control ◽  
Steering System ◽  
Front Wheel ◽  
Path Tracking ◽  
Hierarchical Architecture ◽  
Automatic Steering ◽  
The Stability ◽  
Control Layer

To reduce the adverse effect of the functional insufficiency of the steering system on the accuracy of path tracking, a path tracking approach considering safety of the intended functionality is proposed by coordinating automatic steering and differential braking in this paper. The proposed method adopts a hierarchical architecture consisting of a coordinated control layer and an execution control layer. In coordinated control layer, an extension controller considering functional insufficiency of the steering system, tire force characteristics and vehicle driving stability is proposed to determine the weight coefficients of automatic steering and the differential braking, and a model predictive controller is designed to calculate the desired front wheel angle and additional yaw moment. In execution control layer, a H∞ steering angle controller considering external disturbances and parameter uncertainty is designed to track desired front wheel angle, and a braking force distribution module is used to determine the wheel cylinder pressure of the controlled wheels. Both simulation and experiment results show that the proposed method can overcome the functional insufficiency of the steering system and improve the accuracy of path tracking while maintaining the stability of the autonomous vehicle.

A mechanical integral steering system for increasing the stability and handling of motor vehicles

2015 ◽  
Vol 231 (8) ◽  
pp. 1465-1480 ◽  
Author(s):  
Cătălin Alexandru
Keyword(s):  
Modeling And Simulation ◽  
Steering System ◽  
Motor Vehicles ◽  
Steering Wheel ◽  
Dynamic Simulations ◽  
Translational Movement ◽  
Steering Law ◽  
The Stability ◽  
Input Motion ◽  
Multi Body

The article deals with the design, modeling, and simulation of an innovative four-wheel steering system for motor vehicles. The study is focused on the steering box of the rear wheels, which is a cam-based mechanism, while the front steering system uses a classical pinion—rack gearbox. In the proposed concept, the four-wheel steering aims to improve the vehicle stability and handling performances by considering the integral steering law, which is formulated in terms of correlation between the steering angles of the front and rear wheels. In this regard, a double-profiled cam is designed, in correlation with the input motion law applied to the steering wheel. The cam profile dictates (prescribes) the translational movement of the rear follower, which is connected to the left and right steering tierods, turning—as appropriate—the rear wheels in the same direction (for stability) or in opposite (for handling) to the front wheels. The cam-based mechanism is able to carry out complex motion laws, providing accurate integral steering law. The dynamic modeling and simulation of the four-wheel steering vehicle was performed by using the Multi-Body Systems package Automatic Dynamic Analysis of Mechanical Systems of MSC.Software, the full-vehicle model containing also the front and rear wheels suspension systems, as well the vehicle chassis (car body). The dynamic simulations in virtual environment have resulted in important results that demonstrate the handling and stability performances of the proposed four-wheel steering system by reference to a classical two-wheel steering vehicle.

Design, Modeling and Simulation for Obstacle Crossing Robot Based on In-Wheel Motor

2014 ◽  
Vol 651-653 ◽  
pp. 710-715 ◽  
Author(s):  
Guan Jun Meng ◽  
Zu Tao Zhang ◽  
Hong Xu
Keyword(s):  
Performance Evaluation ◽  
Modeling And Simulation ◽  
Complex Terrain ◽  
Simulation Environment ◽  
Small Space ◽  
Obstacle Crossing ◽  
Active Mode

This paper presents a novel Omni-directional obstacle crossing robot with a combination of passive and active obstacle crossing mode which uses binocular cameras to detect obstacles. The Omni-directional movements can enhance the ability of the robot working in small space and improve the efficiency of steering. The combination of passive and active mode can not only guarantee the adaptability to complex terrain but also enhance the obstacle-crossing ability of the robot. This system was tested in simulation environment, and the last performance evaluation demonstrates the validity of the proposed obstacle crossing robot.

scholarly journals Identification of an optimum control algorithm to reject unwanted yaw effect on wheeled armored vehicle due to the recoil force

2017 ◽  
Vol 9 (1) ◽  
pp. 168781401668335 ◽  
Author(s):  
Vimal R Aparow ◽  
Khisbullah Hudha ◽  
Zulkiffli A Kadir ◽  
Noor H Amer ◽  
Shohaimi Abdullah ◽  
...  
Keyword(s):  
Dynamic Condition ◽  
Control Strategies ◽  
External Disturbance ◽  
Steering System ◽  
Front Wheel ◽  
Optimum Control ◽  
Active Safety System ◽  
Armored Vehicle ◽  
The Stability ◽  
Yaw Moment

This article presents an active safety system for a wheeled armored vehicle to encounter the effect of the firing force. The firing force which acts as an external disturbance causes unwanted yaw moment occurred at the center of gravity of the wheeled armored vehicle. This effect causes the wheeled armored vehicle lose its handling stability and the traveling path after the firing condition. In order to overcome the stability problem, a Firing-On-the-Move assisted by an Active Front Wheel Steering system is proposed in this study. This system is developed based on two established systems, namely, Firing-On-the-Move and Active Front Wheel Steering systems. The proposed system is designed to improve the handling and directional stability performances of the armored vehicle while fires in dynamic condition. Four types of control strategies are designed and investigated in this study to identify the most optimum control strategy as the Firing-On-the-Move assisted by an Active Front Wheel Steering system using optimization tool, genetic algorithm. The control strategies for the Firing-On-the-Move assisted by an Active Front Wheel Steering are evaluated using various types of vehicle speeds and firing angle in order to obtain an appropriate control structure as the Firing-On-the-Move assisted by an Active Front Wheel Steering system for the wheeled armored vehicle.

Shared Control Strategy for Vehicle Stability on U-Split Road

2019 ◽  
Author(s):  
Liangyao Yu ◽  
Lanie Abi ◽  
Zhenghong Lu ◽  
Yaqi Dai
Keyword(s):  
Control Strategy ◽  
Response Speed ◽  
Steering System ◽  
Stability Control ◽  
Front Wheel ◽  
Shared Control ◽  
Steering Wheel ◽  
Vehicle Dynamic ◽  
Stability Performance ◽  
The Stability

Abstract The steer-by-wire (SBW) system eliminates the mechanical connection between the steering wheel and the carriage wheel. It eliminates various limitations of the traditional steering system, so that the steering ratio of the car can be freely designed and the steering by wire system can achieve good active front wheel steering (AFS) function. In the study of the stability control of vehicles on the μ-split road, there are mainly two methods, one based on vehicle trajectory maintenance and the other based on vehicle dynamic stability control. Both of these control methods have delays, which is not conducive to the trajectory flowing ability of the vehicle when driving on the μ-split road. A shared control strategy is proposed to improve the vehicle’s stability. The purpose of this study is to establish different variable transmission ratio characteristic curves according to the different input signals of the driver and the vehicle, such as angular change speed, steering wheel angle, etc. Based on these conditions, a new model combining driver’s intention with vehicle dynamic model is established, so as to achieve the purpose of judging the stability of vehicle in advance, to reduce the delay time of control and to improve the response speed, which will improve the stability performance of the vehicle.

Fault-tolerant control based on 2D game for independent driving electric vehicle suffering actuator failures

2020 ◽  
Vol 234 (13) ◽  
pp. 3011-3025
Author(s):  
Bohan Zhang ◽  
Shaobo Lu ◽  
Lin Zhao ◽  
Kaixing Xiao
Keyword(s):  
Electric Vehicle ◽  
Control Strategy ◽  
Fault Tolerant ◽  
Pareto Frontier ◽  
Linear Quadratic Regulator ◽  
Fault Tolerant Control ◽  
Steering System ◽  
Two Dimensions ◽  
Linear Quadratic ◽  
The Stability

This paper proposes a cooperative game-based actuator fault-tolerant control strategy for a four-wheel independent drive electric vehicle with an active front steering system. For achieving fault-tolerant control and targets cooperation, a two-dimensional game strategy is proposed to balance the stability and economy. The first-dimensional game is utilized to determine the dominant control target of the actuator, then the second-dimensional game is employed to assign the fault-tolerant control task for the remaining healthy actuators. The two dimensions are integrated based on the linear quadratic differential game theory, and a hybrid weighted Pareto frontier is thus established. A Shapley value based weight calculation method is proposed to obtain a set of fair and unique weights according to the importance of each player, which makes the solution of the optimal control problem more easily obtained. The effectiveness and real-time performance of the control strategy are tested under different scenarios. The simulation results demonstrate that the proposed strategy can balance the stability and economy well, outperforms the traditional method in terms of target tracking performance. For special case, the response of the yaw rate could be improved up to 39.83% comparing to that of the linear quadratic regulator method.

Establishment and comparison of a spatial dynamics model for virtual track train with different steering modes

2021 ◽  
pp. 146441932110240
Author(s):  
Zhonghui Yin ◽  
Jiye Zhang ◽  
Haiying Lu
Keyword(s):  
Pid Controller ◽  
Dynamic Performance ◽  
Spatial Dynamics ◽  
Steering System ◽  
Front Wheel ◽  
Proportional Integral Derivative ◽  
Dynamics Model ◽  
Proposed Model ◽  
Suspension Control ◽  
Curved Section

To solve the urbanization and the economic challenges, a virtual track train (VTT) transportation system has been proposed in China. To evaluate the dynamic behavior of the VTT, a spatial dynamics model has been developed that considers the suspension system and the steering system. Additionally, the model takes into account road irregularity to make simulations more realistic. Based on the newly proposed dynamic model and a designed proportional–integral–derivative (PID) controller, simulation frames of the vehicle and of the VTT are established with the path-tracking performance. The results show that the vehicle and the VTT can run along a desired lane with allowable errors, verifying the proposed model. The vehicle and VTT with the four-wheel steering system show a better dynamic performance than the models with the front-wheel steering system in the curved section. Moreover, the simulation frame can be further applied to dynamics-related assessments, parameter optimization and active suspension control strategy.

scholarly journals Modelling and Stability Analysis of Articulated Vehicles

2021 ◽  
Vol 11 (8) ◽  
pp. 3663
Author(s):  
Tianlong Lei ◽  
Jixin Wang ◽  
Zongwei Yao
Keyword(s):  
Stability Analysis ◽  
Critical Velocity ◽  
Equations Of State ◽  
Steering System ◽  
Analysis Model ◽  
Nonlinear Dynamic Model ◽  
Equilibrium Equations ◽  
Eigenvalue Method ◽  
Articulated Vehicles ◽  
The Stability

This study constructs a nonlinear dynamic model of articulated vehicles and a model of hydraulic steering system. The equations of state required for nonlinear vehicle dynamics models, stability analysis models, and corresponding eigenvalue analysis are obtained by constructing Newtonian mechanical equilibrium equations. The objective and subjective causes of the snake oscillation and relevant indicators for evaluating snake instability are analysed using several vehicle state parameters. The influencing factors of vehicle stability and specific action mechanism of the corresponding factors are analysed by combining the eigenvalue method with multiple vehicle state parameters. The centre of mass position and hydraulic system have a more substantial influence on the stability of vehicles than the other parameters. Vehicles can be in a complex state of snaking and deviating. Different eigenvalues have varying effects on different forms of instability. The critical velocity of the linear stability analysis model obtained through the eigenvalue method is relatively lower than the critical velocity of the nonlinear model.

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