Journal of Jilin University(Engineering and Technology Edition) ›› 2019, Vol. 49 ›› Issue (3): 934-942.doi: 10.13229/j.cnki.jdxbgxb20170822

Previous Articles     Next Articles

Control of active four wheel steering vehicle based ontriple⁃step method

Shu⁃you YU1,2(),Lei TAN2,Wu⁃yang WANG2,Hong CHEN1,2   

  1. 1. State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130022, China
    2. College of Communication Engineering, Jilin University, Changchun 130012, China
  • Received:2017-08-04 Online:2019-05-01 Published:2019-07-12

RICH HTML

 13   

PDF (PC)

189

Abstract:

In order to improve the handling stability of active four?wheel steering vehicle based on the Steer by Wire technology, a nonlinear triple?step method is adopted to the linear active four?wheel steering systems so as to track the output of the ideal reference model. The proposed scheme consists of three parts: steady?state?like control, feedforward control considering the variation of the reference signal, and state?dependent error feedback control. The method guarantees that the actual sideslip angle and yaw rate can track the ideal sideslip angle and the ideal yaw rate by the control of the front wheel angle and rear wheel angle of active four wheel systems. A nonlinear eight DOF vehicle model is used to verify the effectiveness of the proposed scheme. Simulation results show that the designed controller can track the output of ideal reference model and improve the handling stability of the active four?wheel steering system.

Key words: automatic control technology, active four wheel steering, model tracking, triple?step method, handing stability

CLC Number: 

  • TP273

Fig.1

2 degree of freedom vehicle model"

Fig.2

Block diagram of active four wheel steering vehicle"

Table 1

Vehicle parameters"

参数 数值
整车质量m/kg 1704.7
质心到前轴的距离a/m 1.035
质心到后轴的距离b/m 1.665
横摆转动惯量Iz /(kg·m2) 3048.1
前轮侧偏刚度k f/(N·rad?1) 39515.0
后轮侧偏刚度k r/(N·rad?1) 39515.0

Fig.3

Step response curves of steering wheel angular at low speed"

Fig.4

Step response curves of steering wheel angularat high speed under crosswind"

Fig.5

Step response curves of steering wheel angular at high speed under change of vehicle mass"

Fig.6

Sinusoidal response curves of steering wheel at high speed（Test 1）"

Fig.7

Sinusoidal response curves of steering wheel at high speed（Test 2）"

Fig.8

Output of triple?step method controller"

1 Yuhara N . A review of four⁃wheel steering studies from the viewpoint of vehicle dynamics and control[J]. Vehicle System Dynamics,2016,18(1⁃3):151⁃186.
2 Yin G D , Chen N , Wang J X ,et al . Robust control for 4WS vehicles considering a varying tire⁃road friction coefficient[J]. International Journal of Automotive Technology,2010,11(1):33⁃40.
3 Lv H , Liu S . Closed⁃loop handling stability of 4WS vehicle with yaw rate control[J]. Journal of Mechanical Engineering,2013,59(10):595⁃603.
4 Li B , Rakheja S , Feng Y . Enhancement of vehicle stability through integration of direct yaw moment and active rear steering[J]. Proceedings of the Institution of Mechanical Engineers Part D:Journal of Automobile Engineering,2016:230(6):830⁃840.
5 Russell H E B , Gerdes J C . Design of variable vehicle handling characteristics using four⁃wheel steer⁃by⁃wire[J]. IEEE Transactions on Control Systems Technology,2016,24(5):1529⁃1540.
6 Zhang Jie , Zhang Yun⁃qing , Chen Li⁃ping , et al . A fuzzy synthesis control strategy for active four⁃wheel steering based on multi⁃body models[C]⫽SAE Paper,2008⁃01⁃0603.
7 Hamzah N , Aripin M K , Sam Y M ,et al . Yaw stability improvement for four⁃wheel active steering vehicle using sliding mode control[C]∥2012 IEEE 8th International Colloquium on Signal Processing and its Applications,Melaka, Malaysia,2012:127⁃132.
8 Tian Jie , Chen Ning , Yang Jie ,et al . Fractional order sliding model control of active four⁃wheel steering vehicles[C]∥ICFDA'14 International Conference on Fractional Differentiation and Its Applications,Catania,Italy,2014:1⁃5.
9 Tan Lei , Yu Shu⁃you , Guo Yang ,et al . Sliding⁃mode control of four wheel steering systems[C]∥IEEE International Conference on Mechatronics and Automation,Takamatsu,Japan,2017:1250⁃1255.
10 Dahmani H , Pages O , Hajjaji A E . Robust control with parameter uncertainties for vehicle chassis stability in critical situations[C]∥2015 54th IEEE Conference on Decision and Control,Osaka,Japan,2015:209⁃214.
11 Ye Min , Wang Quan , Jiao Sheng⁃jie . Robust H 2/H ∞ control for the electrohydraulic steering system of a four⁃wheel vehicle[J]. Mathematical Problems in Engineering,2014(4):1⁃12.
12 王菁,于树友,陈虹 . 基于约束H ∞输出反馈的四轮转向模型跟踪控制[J]. 信息与控制,2016,45(1):53⁃59.
Wang Jing , Yu Shu⁃you , Chen Hong . Model following control of active 4WS vehicle based on constrained output feedback H ∞ control[J]. Information and Control,2016,45(1):53⁃59.
13 Amdouni I , Jeddi N , El Amraoui L . Optimal control approach developed to four⁃wheel active steering vehicles[J/OL].[2017⁃07⁃29].https:∥ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber= 6552547.
14 Zhang Z Y , Huang M H , Ji M X , et al . Design of the linear quadratic control strategy and the closed⁃loop system for the active four⁃wheel⁃steering vehicle[J]. SAE International Journal of Passenger Cars⁃Mechanical Systems,2015,8(1):354⁃363.
15 Yu Shu⁃you , Wang Jing , Wang Yan ,et al . Disturbance observer based control for four wheel steering vehicles with model reference[J]. IEEE/CAA Journal of Automatica Sinica,2018,5(6):1121⁃1127.
16 Gao Bing⁃zhao , Chen Hong , Liu Qi⁃fang ,et al . Position control of electric clutch actuator using a triple⁃step nonlinear method[J]. IEEE Transactions on Industrial Electronics,2014,61(12):6995⁃7003.
17 Hu Y , Hu D , Fan Y ,et al . Electronic throttle controller design using a triple⁃step nonlinear method[C]∥Intelligent Control and Automation,2014:816⁃821.
18 Zhao Hai⁃yan , Gao Bing⁃zhao , Ren Bing⁃tao ,et al . Integrated control of in⁃wheel motor electric vehicles using a triple⁃step nonlinear method[J]. Journal of the Franklin Institute,2015,352(2):519⁃540.
19 Masao N , Yutaka H , Sachiko Y . Integrated control of active rear wheel steering and direct yaw moment control[J]. Vehicle System Dynamics,1998,29(Sup.1):416⁃421.
20 Chen Hong , Gong Xun , Liu Qi⁃fang ,et al . Triple⁃step method to design non⁃linear controller for rail pressure of gasoline direct injection engines[J]. IET Control Theory and Applications,2014,8(11):948⁃959.
21 张博,张建伟,郭孔辉,等 . 基于电动助力转向系统的转向盘转角跟随算法[J]. 吉林大学学报：工学版,2019,49(2):336⁃344.
Zhang Bo ， Zhang Jian⁃wei ， Guo Kong⁃hui ，et al . Steering wheel angle tracking control algorithm based on electric power steering system[J]. Journal of Jilin University(Engineering and Technology Edition), 2019,49(2):336⁃344.
22 胡云峰,顾万里,梁瑜,等 . 混合动力汽车启停非线性控制器设计[J].吉林大学学报：工学版,2017,47(4):1207⁃1216.
Hu Yun⁃feng , Gu Wan⁃li , Liang Yu ,et al . Start⁃stop control of hybrid vehicle based on nonlinear method[J]. Journal of Jilin University(Engineering and Technology Edition), 2017,47(4):1207⁃1216.
23 Esmailzadeh E , Vossoughi G R , Goodarzi A . Dynamic modeling and analysis of a four motorized wheels electric vehicle[J]. Vehicle System Dynamics,2001,35(3):163⁃194.
24 安部正人 . 汽车运动和操纵[M]. 北京：机械工业出版社,1998.
25 杜峰,闫光辉,魏朗,等 . 主动四轮转向汽车最优控制及闭环操纵性仿真[J]. 汽车工程,2014,36(7):848⁃852.
Du Feng , Yan Guang⁃Hui , Wei Lang ,et al . Optimal control and closed⁃loop controllability Simulation for active four⁃wheel steering vehicle[J]. Automotive Engineering,2014,36(7):848⁃852.
[1] Hai⁃ying WEN,Xiang REN,Wei⁃liang XU,Ming CONG,Wen⁃long QIN,Shu⁃hai HU. Bionic design and experimental test of temporomandibular joint for masticatory robot [J]. Journal of Jilin University(Engineering and Technology Edition), 2019, 49(3): 943-952.
[2] GU Wan-li,WANG Ping,HU Yun-feng,CAI Shuo,CHEN Hong. Nonlinear controller design of wheeled mobile robot with H∞ performance [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1811-1819.
[3] LI Zhan-dong,TAO Jian-guo,LUO Yang,SUN Hao,DING Liang,DENG Zong-quan. Design of thrust attachment underwater robot system in nuclear power station pool [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1820-1826.
[4] WANG De-jun, WEI Wei-li, BAO Ya-xin. Actuator fault diagnosis of ESC system considering crosswind interference [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1548-1555.
[5] YAN Dong-mei, ZHONG Hui, REN Li-li, WANG Ruo-lin, LI Hong-mei. Stability analysis of linear systems with interval time-varying delay [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1556-1562.
[6] TIAN Yan-tao, ZHANG Yu, WANG Xiao-yu, CHEN Hua. Estimation of side-slip angle of electric vehicle based on square-root unscented Kalman filter algorithm [J]. 吉林大学学报(工学版), 2018, 48(3): 845-852.
[7] ZHANG Shi-tao, ZHANG Bao, LI Xian-tao, WANG Zheng-xi, TIAN Da-peng. Enhancing performance of FSM based on zero phase error tracking control [J]. 吉林大学学报(工学版), 2018, 48(3): 853-858.
[8] WANG Lin, WANG Hong-guang, SONG Yi-feng, PAN Xin-an, ZHANG Hong-zhi. Behavior planning of a suspension insulator cleaning robot for power transmission lines [J]. 吉林大学学报(工学版), 2018, 48(2): 518-525.
[9] HU Yun-feng, WANG Chang-yong, YU Shu-you, SUN Peng-yuan, CHEN Hong. Structure parameters optimization of common rail system for gasoline direct injection engine [J]. 吉林大学学报(工学版), 2018, 48(1): 236-244.
[10] ZHU Feng, ZHANG Bao, LI Xian-tao, WANG Zheng-xi, ZHANG Shi-tao. Gyro signal processing based on strong tracking Kalman filter [J]. 吉林大学学报(工学版), 2017, 47(6): 1868-1875.
[11] JIN Chao-qiong, ZHANG Bao, LI Xian-tao, SHEN Shuai, ZHU Feng. Friction compensation strategy of photoelectric stabilized platform based on disturbance observer [J]. 吉林大学学报(工学版), 2017, 47(6): 1876-1885.
[12] FENG Jian-xin. Recursive robust filtering for uncertain systems with delayed measurements [J]. 吉林大学学报(工学版), 2017, 47(5): 1561-1567.
[13] XU Jin-kai, WANG Yu-tian, ZHANG Shi-zhong. Dynamic characteristics of a heavy duty parallel mechanism with actuation redundancy [J]. 吉林大学学报(工学版), 2017, 47(4): 1138-1143.
[14] HU Yun-feng, GU Wan-li, LIANG Yu, DU Le, YU Shu-you, CHEN Hong. Start-stop control of hybrid vehicle based on nonlinear method [J]. 吉林大学学报(工学版), 2017, 47(4): 1207-1216.
[15] SHEN Shuai, ZHANG Bao, LI Xian-tao, ZHU Feng, JIN Chao-qiong. Acceleration feedback control based on tracking differentiator [J]. 吉林大学学报(工学版), 2017, 47(4): 1217-1224.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
No Suggested Reading articles found!
Copyright © Journal of Jilin University(Engineering and Technology Edition), All Rights Reserved.
Tel: +86-431-85095297　Fax: +86-431-85094074　E-mail: xbgxb@jlu.edu.cn
Powered by Beijing Magtech Co. Ltd