Research on Steering Control Strategy for Steering-by-Wire Four-Wheel Electric Vehicle

Jiang, Zhizheng; Xiao, Biao; Xiao, Yingwei; Li, Hua; Zhang, Junqiang

doi:10.1109/imcec.2018.8469613

Cited by 3 publications

(3 citation statements)

References 4 publications

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“…The steering control system of a four-wheel vehicle is basically designed according to the Ackerman steering principle (ASP), applying this principle to the coordinated motion control strategy of agricultural robots can greatly reduce the tire sideslip in curve tracking [5]. Many works, such as [6][7][8], highlight the use of mobile vehicles with independent steering on all four wheels. Song designed a four-wheel chassis structure and electrical control system of an omnidirectional automated guided vehicle (AGV) robot through a digital structure, which has better omnidirectional movement performance.…”

Section: Introductionmentioning

confidence: 99%

Wheel Deflection Control of Agricultural Vehicles with Four-Wheel Independent Omnidirectional Steering

Wang

et al. 2021

Actuators

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Due to the Fharsh working environment of wheeled agricultural vehicles in the field, it is difficult to ensure that all wheels make contact with the ground at the same time, which is easy to unequally distribute the yaw moments of each independent wheel. The commonly used vehicle lateral control methods are mostly controlled by coordinating the individual torque between different wheels. Obviously, this control method is not suitable for agricultural four-wheeled vehicles. The goal of this study was to provide a wheel steering angle control method that uses electric push rods as actuators that can cope with this problem. The design of a four-wheel steering controller generally adopts the linear PID control method, but the research object of this paper is difficult to establish an accurate and linear mathematical model due to the complex working environment. Therefore, fuzzy adjustment is added on the basis of PID control, which can meet the requirements of model difficulty and control accuracy at the same time. In order to verify the feasibility and rationality of the designed wheel steering mechanism, the model dynamics simulation based on ADAMS software and the response analysis of the electric linear actuator thrust were completed. Based on the kinematics model of the controlled object, the rotation angle of the actuator motor is used as the control target, the lateral deviation e and deviation variation ec are taken as input variables and the parameters KP, KI and KD are taken as output variables, thereby establishing a fuzzy PID controller. Then, this controller is constructed in the Matlab/ Simulink simulation environment to analyze the lateral deviation and response stability during the process of vehicle path tracking. From the verification results of the linear path walking test under the fuzzy PID control method, the maximum lateral deviation of vehicle chassis is 2.7 cm when the driving speed is set as 1 m/s, and the deviation adjustment stable time of the system is 0.15 s. It can be seen that the proposed steering control strategy has good response performance and effectively increases the steering stability.

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Section: Introductionmentioning

confidence: 99%

Wheel Deflection Control of Agricultural Vehicles with Four-Wheel Independent Omnidirectional Steering

Wang

et al. 2021

Actuators

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“…Therefore, it remains an important topic to address how to further eliminate the vehicle's center of mass slip angle, make the yaw angle speed faster and stabilize, and make the vehicle's stability and steering better. [1][2][3][4] In recent years, more safe, comfortable, and easy to drive intelligent vehicles have become a major goal in the development of contemporary automobiles. With the rapid development of electronic technology, testing technology, system dynamics, and other disciplines, the control technology of vehicle 4WS system has developed rapidly.…”

Section: Introductionmentioning

confidence: 99%

“…Therefore, it remains an important topic to address how to further eliminate the vehicle’s center of mass slip angle, make the yaw angle speed faster and stabilize, and make the vehicle's stability and steering better. 1–4…”

Section: Introductionmentioning

confidence: 99%

Research on automobile four-wheel steering control system based on yaw angular velocity and centroid cornering angle

Zhang

Wang

et al. 2021

Measurement and Control

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In order to improve the handling stability of four-wheel steering (4WS) cars, a two-degree-of-freedom 4WS vehicle dynamics model is constructed here, and the motion differential equation of the system model is established. Based on the quadratic optimal control theory, the optimal control of 4WS system is proposed in this paper. When running at low speed and high speed, through yaw rate feedback control, state feedback control, and optimal control, the 4WS cars are controlled based on yaw rate and centroid cornering angle with MATLAB/Simulink simulation. The result indicates that 4WS control based on the optimal control can improve the displacement of the cars. And, the optimal control of 4WS proposed in this paper can eliminate centroid cornering angle completely compared with other two traditional optimal control methods. Besides, the optimal control enjoys faster response speed and no overshoot happens. In conclusion, the optimal control method proposed in the paper represents better stability, moving track and stability, thereby further enhancing the handling property of cars.

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Enhancing Yaw Tracking Stability in 4WS Vehicles: An Output Redefinition Approach to Overcoming Nonminimum-Phase Challenges

Guan,

Zhou,

et al. 2024

2024 39th Youth Academic Annual Conference of Chinese Association of Automation (YAC)

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Research on Steering Control Strategy for Steering-by-Wire Four-Wheel Electric Vehicle

Cited by 3 publications

References 4 publications

Wheel Deflection Control of Agricultural Vehicles with Four-Wheel Independent Omnidirectional Steering

Wheel Deflection Control of Agricultural Vehicles with Four-Wheel Independent Omnidirectional Steering

Research on automobile four-wheel steering control system based on yaw angular velocity and centroid cornering angle

Enhancing Yaw Tracking Stability in 4WS Vehicles: An Output Redefinition Approach to Overcoming Nonminimum-Phase Challenges

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