A control law for integrating 4WS and 4WD systems is presented. It is based upon a non-linear vehicle model in which the lateral force acting on the tires changes according to the tire slip angle, slip ratio and the load. The purpose of the system is to make the actual yaw rate follow the desired yaw rate. A two-degree-of-freedom control structure has been devised and variable transformation is used to linearize the non-linear model so that Hinfinitely control theory can be applied to design the feedback compensator. A new control theory is used to calculate optimum command values for the 4WS and 4WD actuators. Moreover, adaptive logic is added to reduce the desired yaw rate as the tires approach the limits of adhesion. Simulations and experiments prove the system greatly improves stability during cornering.


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    Titel :

    Development of an integrated system of 4WS and 4WD by Hinfinitely control


    Weitere Titelangaben:

    Entwicklung eines integrierten Systems der Vierradlenkung und des Vierradantriebs durch die H<sup>unendlich</sup>-Regelung


    Beteiligte:
    Hirano, Y. (Autor:in) / Harada, H. (Autor:in) / Ono, E. (Autor:in) / Takanami, K. (Autor:in)

    Erschienen in:

    Erscheinungsdatum :

    1993


    Format / Umfang :

    8 Seiten, 11 Bilder, 6 Quellen



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Print


    Sprache :

    Englisch




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    Development of automotive integrated control system

    Fujita,K. / Ohashi,K. / Inoue,Y. et al. | Kraftfahrwesen | 1993


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    Development of a vehicle integrated control system

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