The Steering Performance Analysis of Multi-Axle Vehicle Based on Sideslip Angle Control Strategy

2014 ◽  
Vol 701-702 ◽  
pp. 799-802
Author(s):  
Ping Xia Zhang ◽  
Li Gao ◽  
Yong Qiang Zhu
Keyword(s):  
Control Strategy ◽  
Front Wheel ◽  
Convergence Time ◽  
Step Response ◽  
Steering Angle ◽  
Sideslip Angle ◽  
Yaw Rate ◽  
Test Variable ◽  
Adams Software ◽  
Controlling Variables

Because there are several axles in multi-axle vehicle, steering controlling is very complex. It is proposed to use the front wheel steering angle and D as input controlling variables, and to realize centroid sideslip angle control. A five-axle vehicle model was built with ADAMS software, and the control strategy was built with Simulink software. The steering angle step response simulations were processed, such as only font wheels steering, fixed D value steering, and different sideslip angle control strategy. It is found that for only font wheels steering test, variable sideslip angle control strategy could make the overshoot of yaw rate reduce from 98% to 10%, convergence time reduce to 57%.

The Effects of Tire Nonlinearity on Vehicle Steering Stability at High Speed

2014 ◽  
Vol 505-506 ◽  
pp. 301-309
Author(s):  
Hua Dong Xu
Keyword(s):  
High Speed ◽  
Necessary Conditions ◽  
Front Wheel ◽  
Vehicle Safety ◽  
Slip Angle ◽  
Vehicle Speed ◽  
Tire Model ◽  
Dynamics Model ◽  
Steering Angle ◽  
Yaw Rate

The steering stability of a vehicle at high speed is the urgent key problem to be solved of automobile independent development. And it is also the premise and one of the necessary conditions of vehicle safety. Considering of the effects of tire nonlinearity, a 4-DOF dynamics model for a vehicle is established. The yaw rate responses, side slip angle, carriage roll angle and front wheel steering angle with different vehicle speeds are calculated. The calculated values are then compared with the values without considering of the effects of tire nonlinearity. The simulations results show that the vehicle responses can be reflected accurately by using nonlinear tire model. With the bigger vehicle speed, the effects of tire nonlinearity on vehicle high-speed steering stability become more obvious.

The Analysis of 4WD Vehicle Overtaking Based on Electric Wheels

2012 ◽  
Vol 241-244 ◽  
pp. 1475-1481
Author(s):  
Xi Zhu ◽  
Jian Guo Song
Keyword(s):  
Control Strategy ◽  
Control Model ◽  
Theoretical Research ◽  
Labor Intensity ◽  
Vehicle Model ◽  
Yaw Control ◽  
Yaw Rate ◽  
Target Track ◽  
Adams Software ◽  
Vehicle Movement

In order to improve vehicle overtaking performance, the four-wheel driving technology based on electric wheels is analyzed. A four-wheel driving vehicle model has been built with ADAMS software, and the control strategy has been built with Simulink software. The driver steering and speed control model with variable ratio is built. The comparative overtaking simulation of four-wheel driving with and without Direct Yaw Control is processed. With the simulation, it can be found that the centroid yaw-rate of the vehicle with Direct Yaw Control is smaller, and vehicle movement track is closer to target track than the vehicle without DYC. The manipulation performance of vehicle is improved, and the labor intensity of the driver is reduced. This provides a certain amount of theoretical research for the four-wheel driving technology based on electric wheels.

Design of Fuzzy Logic Controller for Four Wheel Steering System

2005 ◽  
Author(s):  
Evren Ozatay ◽  
Samim Y. Unlusoy ◽  
Murat A. Yildirim
Keyword(s):  
Fuzzy Logic ◽  
Fuzzy Logic Controller ◽  
Control Strategies ◽  
Steering System ◽  
Front Wheel ◽  
Sideslip Angle ◽  
Yaw Rate ◽  
Nonlinear Vehicle Model ◽  
Three Degree Of Freedom ◽  
Vehicle Dynamics Control

Integration of the driver’s steering input together with the four-wheel steering system (4WS) in order to improve the vehicle’s dynamic behavior with respect to yaw rate and body sideslip angle is possible with intelligent vehicle dynamics control systems. The goal of this study is to develop a fuzzy logic controller for this purpose. In the first stage of the study, a three-degree of freedom nonlinear vehicle model including roll dynamics is developed. The Magic Formula is applied in order to formulate the nonlinear characteristics of the tires. In the design of the fuzzy logic controller, a two-dimensional rule table is created based on the error and on the change in the error of sideslip angle, which is to be minimized. Fuzzy logic controlled model is then compared with front wheel steering vehicle and the vehicles having different control strategies that have previously been studied in literature. Simulations indicate that fuzzy logic controlled vehicle can provide zero body sideslip angle in transient motion and quick response in terms of yaw rate during steady state cornering and lane change maneuvers.

Control Methods of Active Front Wheel Steering for 4WD Electric Vehicle

2011 ◽  
Vol 97-98 ◽  
pp. 735-740
Author(s):  
Ming Hui Zhao ◽  
Lian Dong Wang ◽  
Lei Ma ◽  
Hui Hou
Keyword(s):  
Control Method ◽  
Front Wheel ◽  
Control Input ◽  
Feedback Controllers ◽  
Sideslip Angle ◽  
Yaw Rate ◽  
Wheel Drive ◽  
Model Control ◽  
Four Wheel Drive ◽  
Yaw Moment

Based on two freedom degrees of vehicle model, control method which takes yaw rate and sideslip angle as system state, and front wheel corner and direct yaw moment as control input is put forward. Considering uncertainty of velocity and direct yaw moment, feedforward-feedback controllers are designed. Four wheel drive force are allocated by using feedforward compensation and yaw moment which is formed by driving force difference value. It makes yaw rate and sideslip well of tracking the desirable model when the vehicle drive steering. Finally, vehicle handling stability is studied on conditions of step input and sine input by simulation.

The Analysis of Overtaking of Whole Wheel Steering In-Phase of Multi-Axle Vehicle

2012 ◽  
Vol 152-154 ◽  
pp. 1619-1622
Author(s):  
Yong Qiang Zhu ◽  
Quan Shi Chen ◽  
Ping Xia Zhang
Keyword(s):  
Control Strategy ◽  
Vehicle Control ◽  
Control Model ◽  
Theoretical Research ◽  
Steering Wheel ◽  
Vehicle Model ◽  
Yaw Rate ◽  
Target Track ◽  
Adams Software ◽  
Vehicle Movement

With in-phase steering, there might be some change at the driving performance of multi-axle vehicle. A five-axle vehicle model has been built with ADAMS software, and the control strategy has been built with Simulink software. The driver steering and speed control model with variable ratio was built. The comparative overtaking simuliation of whole wheel steering and only first two-axle wheels steering was processed. With the simulation, it can be found that, in the same movement track cases, comparing to the only first two-axle steering now used in vehicles, with in-phase whole wheel steering, the angle of steering wheel became smaller, the centroid yaw-rate was reduced, and vehicle movement track was closer to target track. The manipulation performance of vehicle was improved, and the labor intensity of the driver.was reduced. This provides a certain amount of theoretical research for the multi-axle steering vehicle control.

scholarly journals Study on Integrated Control of Active Front Steering and Direct Yaw Moment Based on Vehicle Lateral Velocity Estimation

2013 ◽  
Vol 2013 ◽  
pp. 1-8 ◽  
Author(s):  
Tao Sun ◽  
Hao Guo ◽  
Jian-yong Cao ◽  
Ling-jiang Chai ◽  
Yue-dong Sun
Keyword(s):  
Integrated Control ◽  
Front Wheel ◽  
Velocity Estimation ◽  
Extended Kalman Filtering ◽  
Lateral Velocity ◽  
Sideslip Angle ◽  
Yaw Rate ◽  
Active Front Steering ◽  
Fuzzy Control Algorithm ◽  
Yaw Moment

Considering the vehicle lateral velocity is difficult to be measured at integration of chassis control in configuration of production vehicle, this study presents the vehicle lateral velocity estimation based on the extended Kalman filtering with the standard sensor information. The fuzzy control algorithm is proposed to integrate direct yaw moment control and active front steering with lateral velocity estimation. The integration controller produces direct yaw moment and front wheel angle compensation to control yaw rate and sideslip angle, which makes the actual vehicle yaw rate and sideslip angle follow desirable yaw rate and desirable sideslip angle. The simulation results show vehicle handling and stability are enhanced under different driving cycles by the proposed algorithm.

scholarly journals Hierarchical Control of Nonlinear Active Four-Wheel-Steering Vehicles

Energies ◽  
2018 ◽  
Vol 11 (11) ◽  
pp. 2930 ◽  
Author(s):  
Jie Tian ◽  
Jie Ding ◽  
Yongpeng Tai ◽  
Ning Chen
Keyword(s):  
Degrees Of Freedom ◽  
Reference Model ◽  
Hierarchical Control ◽  
Front Wheel ◽  
Sideslip Angle ◽  
Yaw Rate ◽  
Rate Feedback ◽  
New Type ◽  
Simulation Results ◽  
Three Degrees Of Freedom

A new type of hierarchical control is proposed for a four-wheel-steering (4WS) vehicle, in which both the sideslip angle and yaw rate feedback are used, and the saturation of the control variables (i.e., the front and rear steering angles) is considered. The nonlinear three degrees of freedom (3DOF) 4WS vehicle model is employed to describe the uncertainties originating from the operating situations. Further, a normal front-wheel-steering (2WS) vehicle with a drop filter of the sideslip angle is selected as the reference model. The inputs for the rear and front steering angles of the linear 2DOF 4WS, required to achieve the performances described by the reference model, are obtained and controlled by the upper controller. Further, the lower controller is designed to eliminate the state error between the linear 2DOF and nonlinear 3DOF 4WS vehicle models. The simulation results of several vehicle models with/without the controller are presented, and the robustness of the hierarchical control system is analyzed. The simulation results indicate that using the proposed hierarchical controller yields the same performance between the nonlinear 4WS vehicle and the reference model, in addition to exhibiting good robustness.

scholarly journals Coordination of Lateral Vehicle Control Systems Using Learning-Based Strategies

Energies ◽  
2021 ◽  
Vol 14 (5) ◽  
pp. 1291
Author(s):  
Balázs Németh
Keyword(s):  
Control System ◽  
Control Systems ◽  
Coordinated Control ◽  
Front Wheel ◽  
Steering Angle ◽  
Conventional Model ◽  
Linear Parameter Varying ◽  
Coordination Strategy ◽  
Torque Vectoring ◽  
Performance Specifications

The paper proposes a novel learning-based coordination strategy for lateral control systems of automated vehicles. The motivation of the research is to improve the performance level of the coordinated system compared to the conventional model-based reconfigurable solutions. During vehicle maneuvers, the coordinated control system provides torque vectoring and front-wheel steering angle in order to guarantee the various lateral dynamical performances. The performance specifications are guaranteed on two levels, i.e., primary performances are guaranteed by Linear Parameter Varying (LPV) controllers, while secondary performances (e.g., economy and comfort) are maintained by a reinforcement-learning-based (RL) controller. The coordination of the control systems is carried out by a supervisor. The effectiveness of the proposed coordinated control system is illustrated through high velocity vehicle maneuvers.

scholarly journals A Novel Comprehensive Scheme for Vehicle State Estimation Using Dual Extended H-Infinity Kalman Filter

Electronics ◽  
2021 ◽  
Vol 10 (13) ◽  
pp. 1526
Author(s):  
Fengjiao Zhang ◽  
Yan Wang ◽  
Jingyu Hu ◽  
Guodong Yin ◽  
Song Chen ◽  
...  
Keyword(s):  
Kalman Filter ◽  
State Estimation ◽  
Estimation Accuracy ◽  
Vehicle Speed ◽  
Sideslip Angle ◽  
H Infinity ◽  
Yaw Rate ◽  
Cost Constraints ◽  
Active Safety Systems ◽  
Vehicle State Estimation

The performance of vehicle active safety systems relies on accurate vehicle state information. Estimation of vehicle state based on onboard sensors has been popular in research due to technical and cost constraints. Although many experts and scholars have made a lot of research efforts for vehicle state estimation, studies that simultaneously consider the effects of noise uncertainty and model parameter perturbation have rarely been reported. In this paper, a comprehensive scheme using dual Extended H-infinity Kalman Filter (EH∞KF) is proposed to estimate vehicle speed, yaw rate, and sideslip angle. A three-degree-of-freedom vehicle dynamics model is first established. Based on the model, the first EH∞KF estimator is used to identify the mass of the vehicle. Simultaneously, the second EH∞KF estimator uses the result of the first estimator to predict the vehicle speed, yaw rate, and sideslip angle. Finally, simulation tests are carried out to demonstrate the effectiveness of the proposed method. The test results indicate that the proposed method has higher estimation accuracy than the extended Kalman filter.

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