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

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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

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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"

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