TY - JOUR
T1 - On steering control of commercial three-axle vehicle
AU - Qu, Qiuzhen
AU - Zu, Jean W.
PY - 2008/3
Y1 - 2008/3
N2 - The steering control laws of commercial three-axle vehicle are studied based on the closed-loop control model of the driver-vehicle-road. The steering characteristics of the three-axle vehicle can be improved through adding the steering of rear wheels. For a series of combined roads defined as standard roads where the vehicle is tested, a new proposal to optimize the design parameters of the steering system is presented. The cornering stiffness of front, middle and rear wheels and outer disturbance are considered as uncertain parameters varying over a limited range. A new controller of model-following variable structure is constructed and used for controlling front and rear wheels steering of the actual vehicle, so that the steering characteristics of the uncertain vehicle model and nonlinear vehicle model can follow the characteristics of the reference model (nominal model), namely, the vehicle can keep the same steering characteristics as the nominal model on the different roads. Simulation results have demonstrated that the proposed method is reasonable and practicable. copyright;
AB - The steering control laws of commercial three-axle vehicle are studied based on the closed-loop control model of the driver-vehicle-road. The steering characteristics of the three-axle vehicle can be improved through adding the steering of rear wheels. For a series of combined roads defined as standard roads where the vehicle is tested, a new proposal to optimize the design parameters of the steering system is presented. The cornering stiffness of front, middle and rear wheels and outer disturbance are considered as uncertain parameters varying over a limited range. A new controller of model-following variable structure is constructed and used for controlling front and rear wheels steering of the actual vehicle, so that the steering characteristics of the uncertain vehicle model and nonlinear vehicle model can follow the characteristics of the reference model (nominal model), namely, the vehicle can keep the same steering characteristics as the nominal model on the different roads. Simulation results have demonstrated that the proposed method is reasonable and practicable. copyright;
KW - Driver model
KW - Model following control
KW - Nonlinear tire model
KW - Three-axle vehicle
KW - Uncertain model
KW - Variable structure control
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U2 - 10.1115/1.2837438
DO - 10.1115/1.2837438
M3 - Article
AN - SCOPUS:47049093010
SN - 0022-0434
VL - 130
SP - 210101
EP - 2101011
JO - Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
JF - Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME
IS - 2
ER -