This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Controllability and Stability Aspects of Actively Controlled 4WS Vehicles
Annotation ability available
Sector:
Language:
English
Abstract
Four wheel steering (4WS) of passenger cars has become a topic of interest in recent vehicle dynamics literature. In the present work, a linear two-degree of freedom model (L2DF) has been used to examine controllability and stability aspects of various 4WS algorithms. Yaw rate r and lateral velocity v were used as model degrees of freedom, and as state feedback variables for the implementation of 4WS controllers of various types. With controllers developed using the L2DF model, investigations were performed into the performance of such controllers when implemented using a nonlinear three-degree of freedom model (N3DF) which included roll and the possibility of tire saturation. Desirable steady-state properties for v and r can be obtained using the robust controllers developed through the use of the L2DF model. Finally, the stability of the system is shown to depend upon tire cornering stiffness, and is examined both qualitatively and quantitatively.
Authors
Citation
Ohnuma, A. and Metz, L., "Controllability and Stability Aspects of Actively Controlled 4WS Vehicles," SAE Technical Paper 891977, 1989, https://doi.org/10.4271/891977.Also In
References
- Segal L. “Theoretical Prediction and Experimental Substantiation of the Automobile to Steering Control,” Proceedings of the Automobile Division Institute of Mechanical Engineers 7 310 330 1956-1957
- Shibahata Y. et al. “The Development of an Experimental Four-Wheel-Steering Vehicle,” SAE Paper 860623 1986
- Yasuda N. et al. “Improvement of Vehicle Dynamics by Vehicle-Speed-Sensing Four-Wheel Steering System,” SAE Paper 860624 1986
- Sano S. et al. “Four Wheel Steering System with Rear Wheel Steer Angle Controlled as a Function of Steering Wheel Angle,” SAE Paper 860625 1986
- Fukui K. et al. “Analysis of Driver and a ‘Four Wheel Steering Vehicle’ System Using a Driving Simulator,” SAE Paper 880641 1988
- Whitehead J. “Four Wheel Steering: Maneuverability and High Speed Stabilization,” SAE Paper 880642 1988
- Bernard J.E. Vanderploeg M.J. Shannan J.E. “Linear Analysis of a Vehicle with Four Wheel Steering,” SAE Paper 880643 1988
- Vanderploeg J.J. Trom J.D. Bernard J.E. “Evaluation of Four-Wheel Steer Path Following Performance Using a Linear Inverse Vehicle Model,” SAE Paper 880644 1988
- Smith H.W. Davison E.J. “Design of Industrial Regulators,” Proceedings of the IEEE 119 8 August 1972