Most of the controllers introduced for four-wheel-steer (4WS) vehicles are derived with the assumption that the longitudinal speed of the vehicle is constant. However, in real applications, the longitudinal speed varies, and the longitudinal, lateral, and yaw dynamics are coupled. In this paper, the longitudinal dynamics of the vehicle as well as its lateral and yaw motions are controlled simultaneously. This way, the effect of driving/braking forces of the tires on the lateral and yaw motions of the vehicle are automatically included in the control laws. To address the dynamic parameter uncertainty of the vehicle, a chatter-free variable structure controller is introduced. Elimination of chatter is achieved by introducing a dynamically adaptive boundary layer thickness. It is shown via simulations that the proposed control approach performs more robustly than the controllers developed based on dynamic models, in which longitudinal speed is assumed to be constant, and only lateral speed and yaw rate are used as system states. Furthermore, this approach supports all-wheel-drive vehicles. Front-wheel-drive or rear-wheel-drive vehicles are also supported as special cases of an all-wheel-drive vehicle.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Full drive-by-wire dynamic control for four-wheel-steer all-wheel-drive vehicles


    Beteiligte:
    Fahimi, Farbod (Autor:in)

    Erschienen in:

    Vehicle System Dynamics ; 51 , 3 ; 360-376


    Erscheinungsdatum :

    2013-03-01


    Format / Umfang :

    17 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch






    STEER-BY-WIRE AND INDEPENDENT-DRIVE INTEGRATED WHEEL-SIDE ELECTRIC DRIVE DEVICE

    WANG JUNNIAN / GUO DEDONG / LUO ZHENG | Europäisches Patentamt | 2018

    Freier Zugriff

    Steer-by-wire and independent-drive integrated wheel-side electric drive device

    WANG JUNNIAN / GUO DEDONG / LUO ZHENG | Europäisches Patentamt | 2020

    Freier Zugriff

    DRIVE DEVICE FOR FOUR-WHEEL-DRIVE MOTOR VEHICLES

    MEIXNER CHRISTIAN | Europäisches Patentamt | 2016

    Freier Zugriff