A new strategy to optimise the design parameters of four-wheel-steering system (4WS) and to control 4WS is presented in this paper. The optimal control laws of 4WS on a series of combined roads, which are defined as standard roads where the vehicle is tested, are studied, based on the closed-loop control model of the driver-vehicle-road. The actual vehicle model with roll, yaw and lateral motions is considered as an uncertain system, where the cornering stiffness of the front and rear wheels and outer disturbance are defined as uncertain parameters varying over a limited range. For the actual vehicle model, the steer angles of rear wheels are controlled by the state feedback in order to change the lateral dynamic characteristics of the vehicle and to have good active safety. The nonlinear variable structure controller is used for compensating the influences of tyre nonlinear characteristics, variation of the adhesion coefficients of different roads and outer disturbance, so that the uncertain and nonlinear vehicle model can well follow the responses of the ideal reference model (nominal model) and the whole vehicle system has good robustness for outer disturbance and parameter perturbations. A new controller of model-following variable structure is constructed and used for controlling the steering of front and rear wheels of the actual vehicle, so that the steering characteristics of uncertain vehicle model and nonlinear vehicle model can follow the steering characteristics of the reference model (nominal model).
Variable structure model following control of four-wheel-steering vehicle
Regelung einer Vierradlenkung auf Basis eines nichtlinearen Reglers
International Journal of Vehicle Design ; 37 , 4 ; 291-310
2005
20 Seiten, 11 Bilder, 1 Tabelle, 9 Quellen
Aufsatz (Zeitschrift)
Englisch
dynamisches Verhalten , elektronische Steuerung und Regelung , Fahrdynamik , Fahrzeugdynamik , Fahrzeugführung , Fahrzeuglenkung , Kraftfahrzeugelektronik , Modellsimulation , nichtlineare Regelung , Regelungssimulation , Simulationsmodell , Simulationsmodellbildung , Straßenfahrdynamik , Zustandsregelung , Zustandsrückkopplung
Variable structure model following control of four-wheel-steering vehicle
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