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Dynamics Simulation On Control Technology For 4WS Vehicle Steering Performance
Dynamics Simulation On Control Technology For 4WS Vehicle Steering Performance
Dynamics Simulation On Control Technology For 4WS Vehicle Steering Performance
zrh1981819@126.com
Abstract
zrh1981819@yahoo.com.cn
A.
following equations:
ed = vx e v y L
e = v x E
vx : Vertical speed
v y : Lateral speed
B.
I. INTRODUCTION
Recently, people pay more attention not only at the
security and comfort, but also the better steering
performance. So, with the fast development control theory
and technology, the research on four-wheel steering
system becomes one of the hotspots in the study field of
vehicle. In this paper, we consider the visual based
preview kinematics, 2-DOF steering dynamic model and
dynamic equations of 4WS steering system to establish
the steering control mathematic model. And study on the
control technology to improve the steering performance of
4WS in different conditions.
(1)
206
L f k f Lr kr
)w + k f f
(mv +
v
I z r + ( L f k f Lr kr ) + Lr kr r =
L2 k + L2 k
r r
f f
w + Lf k f f
v
Then we can get predigest equation:
mv( + r ) = 2Y f + 2Yr
(2)
I z r = 2l f Y f 2lr Yr
m : Mass of the vehicle.
v : Vehicle speed
: Sideslip angle
r = : Vehicle yaw rate
Lf , Lr : Distance from vehicle nature centre to the front
and rear wheel
Y f , Yr : Slide force
C.
K
=
(3)
G( s) =
DA Tm s 2 + 2 ws + w2
is the output of steering system, DA is the input
of computer control system.
Consider preview kinematics, two degree of freedom
y = Cx + D
and ed , show that they are main poles in the system. The
x
1 = A11 x1 + A12 x2
.
x 2 = A21 x1 + A22 x2 + B2 u
S = C1 x1 + C2 x2
v = 10(km / h)
I z = 2500kg m 2
Lr = 1.8m
L f = 1.4m
For four-wheel steering system, measurement data of
(5)
0.12
B= 0
0.62
0.09
Deviation
vx
D 0
0
A12 =
A11 =
v
x
vx
L 0
D
A21 = ( 0 0 )
A22 = 0.8467
0.06
0.03
0
-0.03
0
Fig.1
2
Times
State variable simulation
Red:
Black:
ed
207
founded.
The solution of H control problem: Design
controller K(s), which can maintain the stability of closed
system and get the infinitesimal.
(7)
0.09
0.06
R1 = E{w(k ), w(k )T }
R2 = E{v (k ), v( k )T }
0.03
Deviation
-0.03
0.09
-0.06
0.06
-0.09
0
Deviation
Fig.3
0.03
3.0
Time(s)
All state variable simulation
6.0
-0.03
0
Fig.2
2(C f + Cr )
mv
A=
2(l f C f lr Cr )
Iz
2.0
1.0
Time(s)
All state variable simulation based on Kalman filter
2(l f Cr + l f Cr ) + mv 2
mv 2
2(l 2 C f l f lr Cr )
Izv
2(C f + Cr )
mv
B=
2(C f l f Cr lr )
Iz
2C f E f
mv
E=
2l f C f E f
Iz
2Cr Er
mv
2lr Cr Er
Iz
lf
F = 1
Fb = 1
1 , 2 : Disturb signal
(t ) = [
According
to
A X + XA + 2 XB1 B1T X +
2 ]
reference[3][4],a
T
12
T
2
T
12
( D D12 ) ( B X + D C1 ) < 0
208
(8)
Deviation
P(k/k)
(9)
V. CONCLUSIONS
Based on Four-wheel vehicle platform, we establish
Lr = 1.8m
L f = 1.4m
Disturb:
1 = 0.6
(1):
2 = 0.7
1 = 0.7
(2):
2 = 0.5
0.09
Deviation
REFERENCE
0.03
-0.03
(v
1.0
2.0
Time(s)
Fig.4 All state variable simulation
(H controller result)
= (120 * rand (1))(km / h) ; Disturb(1))
0.09
0.06
Deviation
0.03
0
-0.03
1.0
Time(s)
2.0
Fig.5
(v
209