Development of Four Wheel Steering System Using Yaw Rate Feedback Control

Sato, Hisako; Kawai, Hiroyuki; Isikawa, Masaru; Iwata, Hitosi; Koike, Sachiko

doi:10.4271/911922

Cited by 17 publications

(6 citation statements)

References 2 publications

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“…These pole locations are determined by the eigenvalues of the " " matrix for the bicycle model in (2). Not including the double integrator, these open-loop eigenvalues are the solution to the equation (18) Note that the Laplace variable has units of (s ), so we may make a scale transformation to nondimensional coordinates (19) Clearly, if the Pi groups agree between two systems governed by the bicycle model, then the normalized pole locations will be the same and this will indicate a high degree of dynamic similitude between the two systems. However, the converse is not true.…”

Section: Dynamic Similitude Analysismentioning

confidence: 99%

The Illinois Roadway Simulator: a mechatronic testbed for vehicle dynamics and control

Brennan

Alleyne

2000

IEEE/ASME Trans. Mechatron.

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The Illinois Roadway Simulator (IRS) is a novel, mechatronic, scaled testbed used to study vehicle dynamics and controls. An overview of this system is presented, and individual hardware issues are addressed. System modeling results on the vehicles and hardware are introduced, and comparisons of the resulting dynamics are made with full-sized vehicles. To address the realism factor of using scaled vehicles, comparisons are made between dynamic responses of full-scale and IRS-scale vehicles. The method of dynamic similitude is a key to gaining confidence in the scaled testbed as an accurate representation of actual vehicles to a first approximation. The IRS is then used in a vehicle control case study to demonstrate the potential benefits of scaled investigations. The idea of driver-assisted control is formulated as a yaw-rate model-following problem based on the representation of the driver as a known disturbance model. The controller is designed and implemented to show that the vehicle's dynamics can be changed to match a prescribed reference model.

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Section: Dynamic Similitude Analysismentioning

confidence: 99%

The Illinois Roadway Simulator: a mechatronic testbed for vehicle dynamics and control

Brennan

Alleyne

2000

IEEE/ASME Trans. Mechatron.

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“…Most of the commercially available VDC systems use differential wheel braking as it is more easily accomplished through already existing ABS hardware (see, e.g., [4]). In [5], a four-wheel steering system with the use of yaw rate feedback and steering-angle feedforward control is investigated. When the vehicle becomes unstable because of sudden side wind, road surface disturbance, or abrupt braking, steering is automatically corrected through the rear wheel to improve stability.…”

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confidence: 99%

Yaw Stability Control Design Through a Mixed-Sensitivity Approach

Cerone

Milanese

Regruto

2009

IEEE Trans. Contr. Syst. Technol.

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Abstract-In this paper, a vehicle dynamic control (VDC) system for tracking the desired vehicle behavior is developed. A 2-DOF control structure is proposed to prevent vehicle skidding during critical maneuvers through the application of differential braking between the right and left wheels in order to control yaw motion. The feedforward filter is a reference generator which computes the desired yaw rate on the basis of the steering angle, while the feedback controller is designed to track the reference as close as possible and to satisfy suitable loop robustness requirements. Mixedsensitivity minimization techniques are exploited in order to design the loop controller. The performance of the control system is evaluated through the hardware-in-the-loop simulation system under both emergency maneuvers and noncritical driving conditions, i.e., when the VDC system is not supposed to intervene.Index Terms-Hardware-in-the-loop (HIL) simulation, robust control, vehicle dynamic control (VDC), vehicle lateral stability, yaw moment control.

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“…The exact solution can be obtained by equating lateral velocities in equations (2) and (4). However, the exact solution has a vehicle parameter D F in its denominator.…”

Section: Lateral-velocity Matching Strategymentioning

confidence: 99%

“…These systems can be classified into two categories: open-loop control and closed-loop control. In an open-loop control RWS system [1][2][3], the steering-wheel angle and/or steering-wheel angle rate is used to command the rear wheel steering angle, while in a closed-loop control RWS system [4][5][6], the vehicle states are fed back to control the rear wheel steering angle. Open-loop control is simple Kwang-Keun Shin is with General Motors R&D, Warren, MI 48090 USA (phone: 586-986-5702; fax: 586-986-3003; e-mail: kwang-keun.shin@gm.com).…”

Section: Introductionmentioning

confidence: 99%

Adaptive open-loop rear-wheel-steering

Shin

Chen

Proceedings of the 2005, American Control Conference, 2005.

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Open-loop rear-wheel-steering (RWS) control can be enhanced by modifying the open-loop gain table that adapts to changes in vehicle dynamics parameters, such as front and rear cornering compliances. These changes can be caused by tire deflation/inflation, tire wear, loading change and suspension aging, etc. The vehicle parameters can be estimated by using a real-time vehicle parameter estimation technique. The open-loop gain table is modified based on three different strategies: yaw-rate gain matching, lateral-velocity gain matching, and lateral-velocity to yaw-rate ratio matching strategies. The three strategies are investigated using linear analysis. The yaw-rate gain matching strategy does recovers yaw-rate gain in the presence of vehicle cornering compliance changes. However it has undesired effect on lateral-velocity response. The other two strategies are both very effective in reducing lateral-velocity although the lateral-velocity to yaw-rate ratio matching strategy is preferred due to its simplicity. When the only change in vehicle dynamics parameters is the rear cornering compliance, the three proposed strategies are found to be equivalent. An adaptive open-loop RWS control structure is then proposed and analyzed with simulation studies. The simulation result shows the effectiveness of the adaptive open-loop control.

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Development of Four Wheel Steering System Using Yaw Rate Feedback Control

Cited by 17 publications

References 2 publications

The Illinois Roadway Simulator: a mechatronic testbed for vehicle dynamics and control

The Illinois Roadway Simulator: a mechatronic testbed for vehicle dynamics and control

Yaw Stability Control Design Through a Mixed-Sensitivity Approach

Adaptive open-loop rear-wheel-steering

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