Estimation of Equivalent Input Disturbance Improves Vehicular Steering Control

She, Jinhua; Xin, Xin; Ohyama, Yasuhiro

doi:10.1109/tvt.2007.904543

Cited by 30 publications

(3 citation statements)

References 21 publications

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“…Ma et al use a sliding-mode observer (SMO) to predict the later tyre forces without prior knowledge of a detailed tire dynamics model [24,25]. For the uncertain disturbance, many researchers have built different types of disturbance observers to compensate, in order to reduce the path-tracking lateral error as much as possible [26,27]. Combined with the active disturbance rejection control theory, researchers observe and compensate the disturbance in different ways, which effectively verifies the effectiveness and robustness of various algorithms in complex environments [28][29][30].…”

Section: Introductionmentioning

confidence: 99%

Front wheel angle control for steering system of intelligent commercial vehicle based on model predictive control

Yang

2023

IET Intelligent Trans Sys

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Accurate control of front wheel angle is essential in intelligent vehicle electric‐hydraulic power steering (EHPS) system, because it has a significant impact on the safety, comfort, and reliability of vehicle steering. However, the accurate control of front wheel angle is a challenging problem due to the non‐linearity of hydraulic power in steering system and the uncertainty of steering resistance. In this paper, a model predictive control (MPC) method for front wheel angle based on steering resistance estimation is proposed. Firstly, through theoretical analysis and practical experiment of EHPS system model, the relationship between front wheel angle and steering wheel angle and the non‐linear characteristics of hydraulic power are obtained. Secondly, a sliding mode observer is established to estimate the front axle lateral tyre force and steering resistance, which is verified by MATLAB/TruckSim co‐simulation. Then a controller based on the MPC theory is designed and applied to the accurate control unit of front wheel angle in the EHPS system for real‐time control. Finally, the simulation and test platform results show that the control algorithm proposed in this paper can precisely control the vehicle's front wheel turning angle within a certain frequency range.

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Section: Introductionmentioning

confidence: 99%

Front wheel angle control for steering system of intelligent commercial vehicle based on model predictive control

Yang

2023

IET Intelligent Trans Sys

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“…The EID method has low computation cost because the control parameters of the feedback controller, state observer, and low-pass filter in the control system can be designed independently. EID has been successfully applied in vehicle steering control [37] and power system with wind farms [38] and has shown excellent disturbance rejection performance.…”

Section: Introductionmentioning

confidence: 99%

Load Frequency Control of Photovoltaic Generation-Integrated Multi-Area Interconnected Power Systems Based on Double Equivalent-Input-Disturbance Controllers

Yang

Wang

et al. 2020

Energies

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With the rapid increase of photovoltaic (PV) penetration and distributed grid access, photovoltaic generation (PVG)-integrated multi-area power systems may be disturbed by more uncertain factors, such as PVG, grid-tie inverter parameters, and resonance. These uncertain factors will exacerbate the frequency fluctuations of PVG integrated multi-area interconnected power systems. For such system, this paper proposes a load frequency control (LFC) strategy based on double equivalent-input-disturbance (EID) controllers. The PVG linear model and the multi-area interconnected power system linear model were established, respectively, and the disturbances were caused by grid voltage fluctuations in PVG subsystem and PV output power fluctuation and load change in multi-area interconnected power system. In PVG subsystems and multi-area interconnected power systems, two EID controllers add differently estimated equivalent system disturbances, which has the same effect as the actual disturbance, to the input channel to compensate for the impact of actual disturbances. The simulation results in MATLAB/Simulink show that the frequency deviation range of the proposed double EID method is 6% of FA-PI method and 7% of conventional PI method, respectively, when the grid voltage fluctuation and load disturbance exist. The double EID method can better compensate for the effects of external disturbances, suppress frequency fluctuations, and make the system more stable.

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“…This second approach of using steering for yaw disturbance rejection is treated in this paper. Steering control has been treated in a large number of references, including [4] and [5]. Integrated control of steering and braking has also received a lot of attention in recent years [6]- [10].…”

Section: Introductionmentioning

confidence: 99%

Robust Yaw Stability Controller Design and Hardware-in-the-Loop Testing for a Road Vehicle

Güvenç¹,

Güvenç

Karaman

2009

IEEE Trans. Veh. Technol.

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Unsymmetrical loading on a car like μ-split braking, side wind forces, or unilateral loss of tire pressure results in unexpected yaw disturbances that require yaw stabilization either by the driver or by an automatic driver-assist system. The use of two-degrees-of-freedom control architecture known as the model regulator is investigated here as a robust steering controller for such yaw stabilization tasks in a driver-assist system. The yaw stability-enhancing steering controller is designed in the parameter space to satisfy a frequency-domain mixed sensitivity constraint. To evaluate the resulting controller design, a real-time hardware-in-the-loop simulator is developed. Steering tests with and without the controller in this hardware-in-the-loop setup allow the driver to see the effect of the proposed controller to improve vehicle-handling quality. The hardware-in-the-loop simulation setup can also be used for real-time driver-in-the-loop simulation of other vehicle control systems.

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Estimation of Equivalent Input Disturbance Improves Vehicular Steering Control

Cited by 30 publications

References 21 publications

Front wheel angle control for steering system of intelligent commercial vehicle based on model predictive control

Front wheel angle control for steering system of intelligent commercial vehicle based on model predictive control

Load Frequency Control of Photovoltaic Generation-Integrated Multi-Area Interconnected Power Systems Based on Double Equivalent-Input-Disturbance Controllers

Robust Yaw Stability Controller Design and Hardware-in-the-Loop Testing for a Road Vehicle

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