In this paper, we examine the lateral dynamics emulation capabilities of an automotive vehicle equipped with four-wheel steering. We first demonstrate that the lateral dynamics of a wide range of vehicles can be emulated, either with little or with no modification on the test vehicle. Then we discuss a sliding mode controller for active front and rear wheel steering, in order to track some given yaw rate and side-slip angle. Analytically, it is shown that the proposed controller is robust to plant parameter variations by +/- 10%, and is invariant to unmeasurable wind disturbance. The performance of the sliding mode controller is evaluated via computer simulations to verify its robustness to vehicle parameter variations and delay in the loop, and its insensitivity to wind disturbance. Finally, the emulation of a bus, a van, and two commercially available passenger vehicles is domonstrated in an advanced simulator.
Lateral dynamics emulation via a four-wheel steering vehicle
Querdynamische Emulation mit Hilfe eines Fahrzeugs mit Vierradlenkung
Vehicle System Dynamics ; 46 , 9 ; 803-829
2008
27 Seiten, 21 Bilder, 3 Tabellen, 19 Quellen
Article (Journal)
English
Lateral dynamics emulation via a four-wheel steering vehicle
Online Contents | 2008
|Lateral dynamics emulation via a four-wheel steering vehicle
Automotive engineering | 2008
|Lateral dynamics emulation via a four-wheel steering vehicle
Taylor & Francis Verlag | 2008
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