Four-wheel-steering/driving sliding mode control based on direct yaw moment

被引：2

作者：

Zhao, Li-Jun ^{[1
,2
]}

Deng, Ning-Ning ^{[1
]}

Luo, Nian-Ning ^{[1
]}

Liu, Xin-Hui ^{[2
]}

机构：

[1] School of Automobile Engineering, Harbin Institute of Technology at Weihai, Weihai, 264209, Shandong

[2] College of Mechanical Science and Engineering, Jilin University, Changchun, 130025, Jilin

来源：

Huanan Ligong Daxue Xuebao/Journal of South China University of Technology (Natural Science) | 2015年 / 43卷 / 08期

基金：

中国国家自然科学基金;

关键词：

Direct yaw moment; Four wheel driving; Four wheel steering; Sliding mode variable structure; Steering stability;

D O I：

10.3969/j.issn.1000-565X.2015.08.011

中图分类号：

学科分类号：

摘要：

Aiming at the steering stability of four-wheel-steering/driving vehicles, an sliding mode variable structure control algorithm is proposed based on the direct yaw moment. First, the relationship between the steering angles of frontand rear wheels is calculated through the Ackermann steering model, and all these angles are also calculated according to the control target of a zero sideslip angle. Then, the sliding mode variable structure control algorithm with the yaw rate and the sideslip angle as the control targets is designed to control the steering angle and driving torque of each wheel. Finally, the stability of the proposed control algorithm is proved by means of the Lyapunov method, and the software Matlab/Simulink is used to analyze the proposed control algorithm. Simulation results show that the proposed control algorithm can maintain the sideslip angle and the yaw rate within ideal ranges, and thus the steering stability of vehicles is effectively improved. ©, 2015, South China University of Technology. All right reserved.

引用

页码：69 / 74and81

页数：7412

共 14 条

[1]

Liu C.-Z., Chen S.-Z., Chen X., The design of driver electrocircuit of proportion direction control valve of the four wheel steering, Mechanical and Electrical Engineering, 19, 5, pp. 23-25, (2002)

[2]

Shino M., Nagai M., Independent wheel torque control of small scale electric vehicle for handling and stability improvement, JSAE Review, 24, pp. 449-456, (2003)

[3]

Zhou L., Ou L.L., Wang C., A simulation of the four-wheel steering vehicle stability based on DYC control, Measuring Technology and Mechatronics Automation, pp. 189-193, (2009)

[4]

Naoki A., Hiroshi F., Yaw-rate control for electric vehicle with active front/rear steering and driving/braking force distribution of rear wheels, Advanced Motion Control 2010, pp. 726-731, (2010)

[5]

Tahami F., Kazemi R., Farhanghi S., A novel driver assist stability system for all wheel drive electric vehicle, IEEE Transactions on Vehicular Technology, 52, 3, pp. 683-692, (2003)

[6]

Hu A.-J., Wang Z.-H., Active front steering and direct yaw moment H2/H∞ integrated control, Journal of Henan University of Science and Technology: Natural Science, 31, 6, pp. 24-28, (2010)

[7]

Doumiati M., Sename O., Martinez J., Et al., Gain-scheduled LPV/H∞ controller based on direct yaw moment and active steering for vehicle handling improvements, 49th IEEE Conference on Decision and Control, pp. 6427-6432, (2010)

[8]

Ackermann J., Odenthal D., Bunte T., Advantages of active steering for vehicle dynamics control, Automotive Technology and Automation, 32nd International Symposium on Automotive, (1999)

[9]

Goodarzi A., Esmailzadeh E., Design of a VDC system for all wheel independent drive vehicles, IEEE/ASME Transactions on Mechatronics, 12, 6, pp. 632-639, (2007)

[10]

Guo K.-H., Ya H., The development of four wheels steering control method, China Mechanical Engineering, 9, 5, pp. 73-75, (1998)

← 1 2 →