Development of a Novel Steering Concept for Articulated Vehicles

Wadephul, Julian; Engelmann, Danilo; Kautzmann, Philipp; Römer, Jürgen

doi:10.1007/s41321-018-0039-6

Cited by 2 publications

(6 citation statements)

References 1 publication

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“…The controller used by Wadephul et al [10] was implemented as a reference. Velocity and articulation angle are each controlled in an independent PI and PID controller.…”

Section: B Reference Control Methodsmentioning

confidence: 99%

“…Again the control allocation problem can be described according to equation (7) with 7. Reference control method with PID-controllers for velocity and steering control with explicit ganging control allocation based on [10].…”

Section: Proposed Control Methodsmentioning

confidence: 99%

“…a reference control approach as used by Wadephul et al [10]. First, we performed the investigations on the simulation model and then validated the results in selected aspects on the real vehicle.…”

Section: Test and Validation Proceduresmentioning

confidence: 99%

“…Thus, the driver can no longer intervene as a fallback in the event of a malfunction of the steering actuation [6]. The requirements for fault-tolerant steer-by-wire systems towards reliability and availability, both in manual operated and automated vehicles, are therefore very demanding [7], [10]. In the considered case, forces Fx 2 and Fx 4 are increased compared to Fx 1 and Fx 3 , which causes the front vehicle section to experience counterclockwise torque and the rear section to experience clockwise torque, resulting in a change in the articulation angle δ.…”

Section: Introductionmentioning

confidence: 99%

“…Lateral and longitudinal dynamics of the vehicle are controlled by distributing the longitudinal wheel forces F x1 -F x4 to the four individually driven wheels. This approach investigated by Wadephul et al [10] enables full electrification of an articulated vehicle without hydraulic components.…”

Section: Introductionmentioning

confidence: 99%

See 4 more Smart Citations

Constrained Control Allocation Improving Fault Tolerance of a Four Wheel Independently Driven Articulated Vehicle

Seiffer

Schutz

Frey

et al. 2023

IEEE Open J. Intell. Transp. Syst.

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In articulated vehicles steering is accomplished by adjusting the articulation angle. Commonly a steering actuator is used to pivot the two vehicle sections. This actuator can be dispensed with if the pivoting is controlled by selective distribution of the drive torques to the individually driven wheels instead. Since steering is a safety-critical function, it must be ensured even if one of the drive motors fails. For this purpose, we propose a control method for a fault-tolerant four wheel independently driven articulated vehicle. The control method was developed and tested in a simulation environment and validated on a 1:5 scale demonstrator vehicle. The proposed method with constrained control allocation maintains the desired velocity and articulation angle by distributing the driving torques to the four wheels considering the current actuator limits. Both the simulation and the vehicle tests show that the control method meets the control objectives even when a sudden actuator limit occurs during critical driving scenarios like cornering. Thus, the vehicle can keep its maneuverability in the event of a detected failure of a drive motor. Together with reliable failure detection, the proposed approach provides a basis for further development towards innovative fault-tolerant electric articulated vehicles that meet the requirements of functional safety.

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“…The controller used by Wadephul et al [10] was implemented as a reference. Velocity and articulation angle are each controlled in an independent PI and PID controller.…”

Section: B Reference Control Methodsmentioning

confidence: 99%

Section: Proposed Control Methodsmentioning

confidence: 99%

Section: Test and Validation Proceduresmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

See 3 more Smart Citations

Constrained Control Allocation Improving Fault Tolerance of a Four Wheel Independently Driven Articulated Vehicle

Seiffer

Schutz

Frey

et al. 2023

IEEE Open J. Intell. Transp. Syst.

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Analysis and Optimisation of a New Differential Steering Concept

Kuslits¹

2022

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Hungary, from where I thank Prof. Zoltán Horváth for helping the progression of this work by fostering the cooperation with Prof. Bestle, and Prof. Zoltán Varga for the inspiring discussions related to the research topic.I also thank all colleagues from the Chair of Engineering Mechanics and Vehicle Dynamics for their kindness and support, and especially for organising the yearly 'Kolloquium', where I enjoyed exchanging ideas. Finally, I thank my beloved Rozi for her enduring patience and backing. Leatherhead, United KingdomMárton Kuslits

show abstract

Development of a Novel Steering Concept for Articulated Vehicles

Cited by 2 publications

References 1 publication

Constrained Control Allocation Improving Fault Tolerance of a Four Wheel Independently Driven Articulated Vehicle

Constrained Control Allocation Improving Fault Tolerance of a Four Wheel Independently Driven Articulated Vehicle

Analysis and Optimisation of a New Differential Steering Concept

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