Research on Modeling and Active Steering Control Algorithm for Electric Forklift Steer-by-Wire System

Steered vehicles on slippery roads tend to slide outward with less lateral force than on high friction roads. In this paper, an active steering control method is proposed such that the vehicles on slippery roads are steered as if they are driven on high friction roads. In order to estimate the lateral force at each tire, a monitoring model is developed utilizing not only the vehicle dynamics but also the roll motion. The estimated lateral force is compared with the optimal reference force and the difference is compensated by the active steering controller. A fuzzy logic rule is designed for the active controller and its performance is evaluated on a steering Hardware-In-the-Loop Simulation (HILS) system. Steering results on slippery curved and sinusoidal roads demonstrate the effectiveness of the proposed controller. The drivers with the controller can steer the vehicles as if they are always driving on the high friction road, because the deviation from the high friction road is accommodated by the proposed steering controller. This method can be realized with the steer-by-wire concept and is promising as an active safety technology.

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Research on Steering Control and Simulation of Vehicle Steer-by-Wire System

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.403-408.5076 ◽

2011 ◽

Vol 403-408 ◽

pp. 5076-5081 ◽

Cited By ~ 1

Author(s):

Xu Yun Qiu ◽

Ming Jin Yu ◽

Zhu Lin Zhang ◽

Jiu Hong Ruan

Keyword(s):

Disturbance Rejection ◽

Control Algorithm ◽

System Model ◽

Tire Model ◽

Steering Control ◽

Active Disturbance Rejection ◽

Disturbance Rejection Control ◽

Steer By Wire ◽

Wire System ◽

Motor Model

A simulation model of Steer-by-Wire(SBW) is built, including steering motor model, steering executive system model, vehicle model and Fiala tire model. Based on the Linear Active Disturbance Rejection Control(LADRC) technique, a kind of control algorithm on steer angle of vehicle SBW is designed. On the simulation system, the control algorithm is simulated and test. The results show that the LADRC controller can implement high precision and strong robust control effects on steer control of vehicle SBW system.

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Optimization of automatic steering control on a vehiclewith a steer-by-wire system using particle swarm optimization

TURKISH JOURNAL OF ELECTRICAL ENGINEERING & COMPUTER SCIENCES ◽

10.3906/elk-1305-43 ◽

2016 ◽

Vol 24 ◽

pp. 541-557 ◽

Cited By ~ 3

Author(s):

Fachrudin HUNAINI ◽

Imam ROBANDI ◽

Nyoman SUTANTRA

Keyword(s):

Particle Swarm Optimization ◽

Particle Swarm ◽

Steering Control ◽

Swarm Optimization ◽

Steer By Wire ◽

Automatic Steering ◽

Wire System

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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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