Practical Synchronous Steering Angle Control of a Dual-Motor Driving Steer-by-Wire System

Hwang, Hyeongjin; Choi, Hun-Kook; Nam, Kwangwoo

doi:10.1109/access.2019.2938803

Cited by 15 publications

(8 citation statements)

References 26 publications

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“…𝜃 i + T wtd (10) where T i is the input torque of driven pulley and r i is radius of driven pulley. I i is inertia of driven pulley.…”

Section: Steering System Formulationmentioning

confidence: 99%

“…And in their work [9], Sun et al proposed a nested adaptive super-twisting SMC approach to deal with complex time-varying external disturbances, which promotes the tracking accuracy and alleviates the chattering phenomenon. As for the angle tracking control of hub wheels, Hwang et al and Kim et al developed a SMC that indicates good performance of angle tracking [10,11]. Iqbal et al combined adaptive SMC and Kalman filter to estimate the vehicle states and cornering stiffness coefficients [12].…”

Section: Introductionmentioning

confidence: 99%

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A model predictive control approach for angle tracking of steer‐by‐wire system with nonlinear transmission ratio

Shi

Wei

Xie

et al. 2022

Asian Journal of Control

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Steer‐by‐wire for full self‐driving vehicles requires rapid angle tracking in the process of steering, making steering system stability paramount. This is particularly challenging for steering wheels accurately without handwheel, for which road feedback information is scarce. While much of the research on steer‐by‐wire has focused on improving the stability of vehicle dynamics, comparatively little is known about the angle tracking control of steer‐by‐wire system for full self‐driving vehicle. Here, we discuss a series of studies on the steering dynamics model and nonlinear transmission ratio of steering system that, collectively, design an angle tracking approach of how the model predictive control algorithm steers the front wheels precisely. The designed approach has been downloaded into a steering control unit and tested by some steering cycles in a steering test bench to fully realize angle tracking control of steer‐by‐wire system in practical engineering.

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“…𝜃 i + T wtd (10) where T i is the input torque of driven pulley and r i is radius of driven pulley. I i is inertia of driven pulley.…”

Section: Steering System Formulationmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A model predictive control approach for angle tracking of steer‐by‐wire system with nonlinear transmission ratio

Shi

Wei

Xie

et al. 2022

Asian Journal of Control

View full text Add to dashboard Cite

show abstract

“…The switch opening represents the percentage of the total stroke of the switch pedal; the brake pedal opening represents the percentage of the brake pedal stroke to the total stroke. In order to ensure the safety and repeatability of the experiments [14][15][16] , this paper builds a stability information acquisition system for autonomous vehicles based on the dSPACE real-time simulation platform.…”

Section: Vehicle Status Data Collection and Analysismentioning

confidence: 99%

Research on stability identification algorithm of autonomous vehicle based on data driven

Niu¹,

Liu²,

Lin³

2023

3rd International Conference on Artificial Intelligence, Automation, and High-Performance Computing (AIAHPC 2023)

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Automatic driving is faced with complex and dynamic scenarios, especially under the influence of complex and variable factors such as longitudinal vehicle speed, road terrain, and other complex and variable factors, the vehicle's nonlinear and tire force longitudinal coupling characteristics are significantly enhanced, placing higher requirements on the performance of vehicle stability control systems. Based on this, this paper proposes a vehicle stability identification method which are able to identify vehicle stability status online based on driving style based on data driven and mechanism hybrid models. Firstly, based on vehicle stability evaluation criteria, the feature parameters are processed using unscented Kalman filtering algorithm and factor weighted analysis method to achieve quantitative stability evaluation; Secondly, using the dSPACE simulation platform, a test model for signals such as switch on, brake pedal on, steering wheel angle, and vehicle yaw rate under extreme conditions is established, and a driving stability demand identification model is established using the K-means algorithm; Thirdly, combining the demand identification model and quantitative evaluation training test data, a stability quantitative identification model is obtained; Finally, a collaborative simulation model of MATLAB/Simulink and CarSim was established and tested. The results show that the recognition method can accurately realize the reasonable classification and online recognition of the stability of autonomous vehicle, and to a greater extent, it reflects the design concept of intelligent vehicles that "cars adapt to people, not people adapt to cars".

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“…The synchronous control coefficients K1 and K2 are used to compensate each motor to achieve balanced control of the output torque. Hwang et al 8 proposed a master-slave controller disturbance observer based sliding mode controller to ensure synchronous steering. A combination of disturbance observer and sliding mode controller is used to ensure strong robustness to model uncertainty and external disturbances.…”

Section: Introductionmentioning

confidence: 99%

Study on new frequency conversion control system and power balance control method of dual-motor for shearer traction unit

Mao

Zhang

et al. 2022

Advances in Mechanical Engineering

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The drive system of shearer traction unit is affected by complex load interference and system structure, which results in the problem of unbalanced power of dual-motor of shearer traction unit. A new type of dual-motor frequency conversion control system for shearer traction unit with “common rectification and dual inverters” is designed. And a dual-motor power balance control method based on particle swarm optimization torque cross-coupled control is proposed. The new frequency conversion control system adopts a parallel structure of two inverter circuits with a common DC bus. Particle swarm optimization is used to optimize the PID control parameters of torque cross-coupling control, which solves the problem that it is difficult to gain optimal PID parameters. The control model is established using Matlab/Simulink simulation software. The proposed control method and the master-slave control method are compared by simulation. The results show that the control effect of proposed control method is better synchromization and power balance effect than the master-slave control method. The proposed control method is applied to dual-motor control of shearer traction unit for experimental verification. The results indicate that the proposed power balance control method realizes that the output torque ratio of dual-motor is between 0.9 and 1.1.

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Practical Synchronous Steering Angle Control of a Dual-Motor Driving Steer-by-Wire System

Cited by 15 publications

References 26 publications

A model predictive control approach for angle tracking of steer‐by‐wire system with nonlinear transmission ratio

A model predictive control approach for angle tracking of steer‐by‐wire system with nonlinear transmission ratio

Research on stability identification algorithm of autonomous vehicle based on data driven

Study on new frequency conversion control system and power balance control method of dual-motor for shearer traction unit

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