Stability control strategy of steer-by-wire system based on LQG/LTR

Zhang, Han; Zhao, Wanzhong

doi:10.1007/s11431-016-0787-4

Cited by 10 publications

(2 citation statements)

References 14 publications

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“…The electric forklift must have frequent steering operations when handling goods in the warehouse. Due to the cooperation of the front and rear wheels of the electric forklift with four-wheel steering, the track radius during turning is smaller, and the turning is more flexible, but it also challenges the steering control technology [3]. Steer-by-wire technology controls the steering of tires through electronic signals.…”

Section: Introductionmentioning

confidence: 99%

Research on steering control performance of electric forklift with steer by wire

Chuan

2021

Int. J. Metrol. Qual. Eng.

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Forklift plays an important role in cargo handling in the warehouse; therefore, it is necessary to ensure the stability of the forklift when turning to guarantee the safety of transportation. In this study, the particle swarm optimization (PSO) algorithm was improved by a genetic algorithm (GA), and the parameters of the proportion, integration, and differentiation (PID) controller were calculated using the improved algorithm for forklift steering control. Then simulation experiments were carried out using MATLAB. The results showed that the convergence speed of the improved PSO algorithm was faster than that of GA, and its adaptive value after convergence stability was significantly lower than that of the PSO algorithm; whether it was low-speed or high-speed steering, the three algorithms responded to the steering signal quickly; the yaw velocity and sideslip angle of the forklift steering under the improved PSO algorithm were more suitable for stable steering, and the increase of the steering speed would increase the yaw velocity. The novelty of this paper is that the traditional PSO algorithm is improved by GA and the particle swarm jumps out of the locally optimal solution through the crossover and mutation operations.

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Section: Introductionmentioning

confidence: 99%

Research on steering control performance of electric forklift with steer by wire

Chuan

2021

Int. J. Metrol. Qual. Eng.

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“…As for the steering control, it can be separated into upper layer and lower layer control strategies, where the former has been widely researched recent years, such as proportional–integral–derivative (PID) control, 16 optimal control, 17 robust control, 18 sliding mode control, 19 fuzzy control, 20 neural network control, 20 and model predictive control. 21 The lower layer control regarding the SBW system, which is essentially a trajectory tracking problem, however, has not received much attention.…”

Section: Introductionmentioning

confidence: 99%

Comparative study of two types of control loops aiming at trajectory tracking of a steer-by-wire system with Coulomb friction

Huang

Zhang

Wang

2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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In an era of automated driving, steer-by-wire system seems to be an indispensable component for an autonomous vehicle. Among the many problems concerned, steering control of the system may be arguably the most indispensable part that lay the foundation for the system and is essentially a position servo control problem. Traditionally, the most commonly used control loop structures of the position servo system can be classified into two categories, both considering the current control loop as an essential part. However, this is not necessarily true in practical applications. In view of this, control systems with two different types of control loops based on proportional–integral–derivative controllers have been designed and compared in this paper for trajectory tracking of the steer-by-wire system with Coulomb friction. The aim is to explore the essential differences between the two types of control loops and study the effect of current loop on performance of the system. When properly designed, it can be seen that the asymptotic stability of the control system can be guaranteed. However, the system with type I control loop has a faster response speed, whereas the system with type II control loop has a smoother response. Theoretical as well as simulation and experimental results have been provided in detail, which can contribute to the understanding of the two types of control loops and can be used as guidance not only for researchers but also for engineering practice.

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Robuste Zwei-Freiheitsgrade Linear Quadratisch Gaußsche Positions-regelung für den Vorderachsaktuator eines Steer-by-Wire Systems

Gonschorek

Bertram

2023

Forsch Ingenieurwes

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The Steer-by-Wire (SbW) system is a key technology for highly automated driving. For automated lateral vehicle guidance, the precise position control of the SbW Front Axle Actuator is an essential prerequisite. This contribution presents the modeling, control design, nominal performance, and stability analysis as well as the robustness analysis of the position control for the SbW Front Axle Actuator. Based on a nonlinear model of the plant a simplified linear system model is derived. This model yields the basis for the design of a Two-Degrees of Freedom Linear Quadratic Gaussian Control (2DOF LQG control), which allows an independent design of the command and the disturbance response. Besides an evaluation of the nominal control behavior, μ-analysis is applied to assess the robustness of performance and stability. Finally, real vehicle tests for different driving maneuvers are presented to verify simulation results.

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Stability control strategy of steer-by-wire system based on LQG/LTR

Cited by 10 publications

References 14 publications

Research on steering control performance of electric forklift with steer by wire

Research on steering control performance of electric forklift with steer by wire

Comparative study of two types of control loops aiming at trajectory tracking of a steer-by-wire system with Coulomb friction

Robuste Zwei-Freiheitsgrade Linear Quadratisch Gaußsche Positions-regelung für den Vorderachsaktuator eines Steer-by-Wire Systems

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