Research on control strategy for differential steering system based on H mixed sensitivity

Zhao, Wenxi; Li, Y. J.; Wang, C. Y.; Zhang, Z. Q.; Xu, Chao-Jiang

doi:10.1007/s12239-013-0100-5

Cited by 18 publications

(10 citation statements)

References 7 publications

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“…A H ∞ mixed sensitivity controller is designed to suppress the model uncertainties and road disturbance. The simulation results verified the efficacy of the DSS with the designed controller [8]. However, they are aimed at mitigating the driver's steering efforts.…”

Section: Introductionsupporting

confidence: 52%

“…With the emergence of intelligent vehicle systems (IVS), the 4WID system can also be used to solve the path tracking problem [3,4]. However, there are three functions of the DSS: (1) Steering the vehicle without the lateral turning of the wheel, i.e., skid steering [5,6]; (2) Assisting the driver to steer the vehicle, that is, differential drive assisted steering (DDAS) [1,2,7,8]; (3) Steering the vehicle instead of the regular steering system [9][10][11][12][13]. Skid steering was realized by giving a tire speed differential between the left and right tires [5,6].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Differential Steering Control of Four-Wheel Independent-Drive Electric Vehicles

2018

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This paper investigates the skid steering of four-wheel independent-drive (4WID) electric vehicles (EV) and a differential steering of a 4WID EV with a steer-by-wire (SBW) system in case of steering failure. The dynamic models of skid steering vehicle (SSV) and differential steering vehicle (DSV) are established and the traditional front-wheel steering vehicle with neutral steering characteristics is selected as the reference model. On this basis, sideslip angle observer and two different sliding mode variable structure controllers for SSV and DSV are designed respectively. Co-simulation results of CarSim and Simulink show that the designed controller for DSV not only controls the yaw rate and sideslip angle of DSV to track those of the reference model exactly, but also ensures the robustness of the controlled system compared with the designed controller for SSV. And the differential driving torque needed to realize the differential steering is much smaller than that for skid steering, which indicates the possibility of the differential steering in case of steering failure.

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Section: Introductionsupporting

confidence: 52%

Section: Introductionmentioning

confidence: 99%

Differential Steering Control of Four-Wheel Independent-Drive Electric Vehicles

2018

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“…S is sensitivity weighting factor. R is input sensitivity weighting factor, T is sensitivity weighted factor, and K(s) is the controller of the system [20]. The sensitivity control function S, the input sensitivity function , and the complement sensitivity function are included in the design of the hybrid sensitivity H ∞ control system [21].…”

Section: Hybrid Sensitivity Design Problemmentioning

confidence: 99%

EPS Current Tracking Method Research Based on Hybrid Sensitivity H∞ Control Algorithm

Hai-rong

et al. 2018

Journal of Electrical and Computer Engineering

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For electric power steering system (EPS), road interference, noise of the sensor, and the uncertainty of the steering system may make EPS control effect and the driver's road sense worse. EPS system which takes advantage of good current tracking ability, good anti-interference ability, and good operation stability is becoming more and more important in automotive research. The traditional H ∞ control algorithm can solve the system uncertainty theoretically, but it cannot solve the contradiction between robustness and performance without considering the performance of the system. Therefore, this paper proposes a EPS current tracking method based on the hybrid sensitivity H ∞ control algorithm, which takes the current tracking performance as one of the control objectives, so that the system can maximize the robustness and performance. Firstly, the dynamic model of EPS is established. Then, the twodegree-of-freedom vehicle model and tire model are introduced. The state space equation of the system is constructed on the basis of the system state space with random disturbance signals, the hybrid sensitivity H ∞ controller is designed in the sensitivity index design, and the proposed algorithm can use weighting function to minimize the performance of the current tracking error as well as the robustness of the yaw rate error in response to robustness. Simulation analysis and experimental verification of EPS system are also carried out. The results show that the control method of the hybrid sensitivity H ∞ can better achieve EPS target current tracking, effectively suppress the effect of external interference and noise, improve the system performance and robustness, ensure the driver get good road sense, and improve the system of steering stability.

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“…Up to now, there are three functions of the DSS: (1) Steering the vehicle without the lateral turning of the wheel, that is, the skid steering [3,4]; (2) Assisting the driver to steer the vehicle and reducing the driver's load, i.e., the differential drive assisted steering (DDAS) [5][6][7][8]; (3) Steering the vehicle in case of the failure [9][10][11][12][13][14][15] or instead of the regular steering system [16][17][18]. Among them, the literatures [9][10][11][12][13][14][15][16] are most related to this study.…”

Section: Introductionmentioning

confidence: 99%

Four-Wheel Differential Steering Control of IWM Driven EVs

et al. 2020

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This paper aims to realize the four-wheel differential steering function of an in-wheel motor (IWM) driven electric vehicle (EV) with a steer-by-wire (SBW) system. The dynamic models of four-wheel differential steering vehicle (4WDSV) and four-wheel-steering vehicle (4WSV) are established, and a frontwheel-steering vehicle (2WSV) with the neutral steering characteristics and a drop filter of the sideslip angle is employed as the reference model to provide the ideal yaw rate and sideslip angle. According to the reference model, the decoupling and fractional PI  D  controllers are designed for the 4WSV to obtain the standard inputs, i.e., the front and rear wheel steering angles, which is finally drawn as the MAP. Furthermore, the sliding mode controller (SMC) and torque distributor are designed to control the 4WDSV to have the same yaw rate as the 4WSV, whose inputs are consulted from the MAP drawn in advance according to the vehicle speed. The simulation results of several vehicle models with/without the controller of two working conditions (reverse and in phase steering) are presented, which indicates that the proposed decoupling and fractional PI  D  controller for the 4WSV is effective to obtain its standard inputs, and the proposed SMC and torque distributor for the 4WDSV ensure that it has the same yaw rate as the 4WSV, as well as the good robustness. INDEX TERMS Four-wheel differential steering, in-wheel motor driven, decoupling, fractional PI  D  control, sliding model control.

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Research on control strategy for differential steering system based on H mixed sensitivity

Cited by 18 publications

References 7 publications

Differential Steering Control of Four-Wheel Independent-Drive Electric Vehicles

Differential Steering Control of Four-Wheel Independent-Drive Electric Vehicles

EPS Current Tracking Method Research Based on Hybrid Sensitivity H∞ Control Algorithm

Four-Wheel Differential Steering Control of IWM Driven EVs

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