This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Allocation Control of the Distributed Steering System
Technical Paper
2016-01-8034
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
Distributed steering vehicle uses four steering motors to achieve four wheel independent steering. The steering angle of each wheel can be distributed respectively. The tire cornering characteristics are added to traditional steering model to study the angle allocation control algorithm. Using the constraint relation between tire slip angle, vehicle speed, yaw rate and front steering angle, and connecting with the ideal ackermann steering relationship, steering angle allocation of front wheel independent steering and four wheel independent steering is derived. Then simulated analysis is carried out to demonstrate the efficiency of the algorithm. Improvements in tire wear condition are determined by evaluating the optimization in tire lateral force, and the vehicle stability is determined by vehicle slip angle. The simulation results show that the angle allocation control algorithm has a good effect on improving tire wear condition and enhancing the stability of vehicle.
Recommended Content
Technical Paper | Stabilizing the Steering Weave Mode |
Technical Paper | Simulation and Investigation of Shimmy on a Light Truck Independent Front Suspension |
Technical Paper | Steering Wheel Torque Control of Steer-by-Wire System for Steering Feel |
Citation
Sun, H. and Chen, G., "Allocation Control of the Distributed Steering System," SAE Technical Paper 2016-01-8034, 2016, https://doi.org/10.4271/2016-01-8034.Also In
References
- Lee M H , Li T H S Kinematics, dynamics and control design of 4WIS4WID mobile robots[J] Journal of Engineering 2015 1
- Jahn M , Schröer M , Yoo Y H et al. Concept of Actuation and Control for the EO Smart Connecting Car (EO scc)[C] International Conference on Intelligent Robotics and Applications 2012 87 98
- Lupker H A Tyre and road wear prediction[J] Tno Industrie 2003
- Wakao Y , Hanatsuka Y Apparatus for estimating tire wear amount and a vehicle on which the apparatus for estimating tire wear is mounted: US, US8493200[P] 2013
- Chen G , Wang Z Fuzzy Control Method Based on Ackermann Steering Theorem for Four-wheel Independent Steering[J] Machinery & Electronics 2014
- Chen G , Zhang D Research on Integrated Chassis Control Strategy for Four-Wheel Independent Control Electric Vehicle [J] 2009 25 2 4 10
- Farazandeh , A. , Ahmed , A. , and Rakheja , S. Performance Enhancement of Road Vehicles Using Active Independent Front Steering (AIFS) SAE Int. J. Passeng. Cars - Mech. Syst. 5 4 1273 1284 2012 10.4271/2012-01-2013
- Mokhiamar O , Abe M How the four wheels should share forces in an optimum cooperative chassis control[J] Control Engineering Practice 2006 14 3 295 304
- Heo , H. , Joa , E. , Yi , K. , and Kim , K. Integrated Chassis Control for Enhancement of High Speed Cornering Performance SAE Int. J. Commer. Veh. 8 1 102 109 2015 10.4271/2015-01-1568
- Wang R , Zhang H , Wang J Linear Parameter-Varying Controller Design for Four-Wheel Independently Actuated Electric Ground Vehicles With Active Steering Systems[J] IEEE Transactions on Control Systems Technology 2014 22 4 1281 1296
- Yuan X , Wen G , Zhou B et al. Research on vehicle stability enhancement using AIFS system[J] Zhongguo Jixie Gongcheng/china Mechanical Engineering 2015 26 4 560 567
- Tian C W , Zong C F , Lei H E et al. Control strategy of 4 W steer-by-wire system[J] Journal of Jilin University 2010
- Yang F , Jiuhong R , Li Y et al. Study of the integrated control for 4WID electric vehicle yaw stability based on optimal allocation[C] Control Conference (CCC), 2013 32nd Chinese IEEE 2013 2367 2371
- Wang R , Wang J Tire-road friction coefficient and tire cornering stiffness estimation based on longitudinal tire force difference generation[J] Control Engineering Practice 2013 21 21 65 75