Vehicle Performance Improvement by Steering a Third Axle

Williams, Daniel E.; Sherwin, Kenneth A.

doi:10.4271/2010-01-1890

Cited by 2 publications

(3 citation statements)

References 7 publications

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“…[14,15] Low-speed manoeuvrability enhancement is not the objective of the RRZ control, but is nonetheless an important benefit. When Equation (22) is used to select a control law resulting in repeated real zeros, the location of those repeated zeros can be determined relative to the centroid of the poles of Equation (20).…”

Section: Determination Of Rear Axle Steer Controlmentioning

confidence: 99%

“…The vehicle dynamics are described by transfer functions Equation (15) through Equation (18) that report state variables as a function of the steering input. The preview filter is described by Equation (19) (20).…”

Section: Determination Of Rear Axle Steer Controlmentioning

confidence: 99%

“…Steering the third axle of a three-axle commercial vehicle at low speeds is known to improve vehicle manoeuvrability [14] and reduce tyre wear. [15] Qu and Zu [16] consider the driver in their work on steering the third axle of a commercial vehicle to insure that a reference model is followed in the presence of unknown road inputs and uncertain vehicle parameters. This work will develop a novel control law for steering the rear axle that improves both high-speed stability and low-speed manoeuvrability.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Lane-keeping benefits of practical rear axle steer

Williams

2013

Vehicle System Dynamics

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The classic two-degree-of-freedom yaw-plane or 'bicycle' vehicle model is augmented with two additional states to describe lane-keeping behaviour and further augmented with an additional control input to steer the rear axle. A simple driver model is hypothesised where the driver closes a loop on a projected lateral lane position. The driver can select the preview distance to compensate driver/vehicle dynamics, consistent with the 'cross-over' model found in the literature. A rear axle steer control law is found to be a function of the front axle steering input and vehicle speed that exhibits stability similar to a positive-real system, while at the same time improving the ability of the driver/vehicle system to track a complex curved lane and improving steady-state manoeuvrability. The theoretically derived control law bears similarity to practical embodiments allowing a deeper understanding of the functional value of steering a rear axle.

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Section: Determination Of Rear Axle Steer Controlmentioning

confidence: 99%

Section: Determination Of Rear Axle Steer Controlmentioning

confidence: 99%