This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Enhanced Vehicle Lateral Stability in Crosswind by Limited State Kalman Filter Four Wheel Steering System
Technical Paper
2007-01-0841
ISSN: 0148-7191, e-ISSN: 2688-3627
Annotation ability available
Sector:
Language:
English
Abstract
In this work, a theoretical investigation of four-wheel steering (or shortly 4WS) system is presented using a linear model to simulate vehicle handling characteristics. This model incorporates driver';s operation. The simulation concerns the vehicle in straight running while the vehicle is subjected to side wind excitation. Limitations of measurements in practice are supporting the implementation of limited state feedback systems instead of those which are based on full state feedback information. Therefore, the well known Kalman filter algorithm is used in this work to design a practical 4WS control strategy. This practical system uses only feedback signals of lateral acceleration and front steering angle to obtain the control law. Measurement noise is taken into account and results are generated to obtain the step response of the outputs of interest. Comparison between this system, classical 4WS system with LQR feedback gains and the conventional 2WS system are obtained and conclusions are drawn on the benefits and practical implications of these intelligent 4WS.
Recommended Content
Authors
Citation
El-Nashar, M., Abdelhady, M., Oraby, W., and El-Sinawy, S., "Enhanced Vehicle Lateral Stability in Crosswind by Limited State Kalman Filter Four Wheel Steering System," SAE Technical Paper 2007-01-0841, 2007, https://doi.org/10.4271/2007-01-0841.Also In
References
- Nalecz Andrzej G. Bindemann Alan C. “Handling Properties of Four Wheel Steering Vehicles” Society of Automotive Engineers, Paper No. 890080
- Cho Young H. Kim J. “Stability Analysis of the Human Controlled Vehicle Moving along Curved Path” Vehicle System Dynamics 25 51 69 1996
- Bernard J. Pickelmann M. “An Inverse Linear Model of a Vehicle” Vehicle System Dynamics 15 1986
- Alloum “A Vehicle Modelling Aspects for an Embedded Real-Time Application” Vehicle System Dynamics 27 1997
- Sultan M. “A Study of Vehicle Class Segregation Using Linear Handling Models” SAE Paper No. 950307 1995
- Matsumoto N. Tomizuka M. “Vehicle Lateral Velocity and Yaw Rate Control with Two Independent Control Inputs” 114 1992
- Horiuchi Shinichiro Yuhara Naohiro Takel Akihiko “Two Degree of Freedom H-Infinity Controller Synthesis for Active Four-Wheel Steering Vehicles” Vehicle System Dynamics Supplement 25 1996
- Oraby W. “The Effect of Aerodynamic Forces on Passenger Car Handling” Ph.D. Thesis University of Helwan Cairo, Egypt 2001
- Cho Young H. Kim J. “Design of Optimal Four Wheel Steering System” Vehicle System Dynamics 24 1995
- Takahashi Yasundo Rabins Michael J. Auslander David M. “Control and Dynamic Systems” Addison-Wesley Publishing Company Inc 1970
- Hady M. B. Abdel “The Effect of Active Suspension Control on Vehicle Ride Behaviour” Ph.D. Thesis University of Leeds UK 1989
- Ragab EI-Sayed “The Effect Of Using Intellegent Control Systems On Vehicle Handling Behavior” M.Sc. Thesis University of Helwan Cairo, Egypt 2006