Abstract
The synchronization error of the left and right steering-wheel-angles and the disturbances rejection of the synchronization controller are of great significance for the active rear axle independent steering (ARIS) system under complex driving conditions and uncertain disturbances. In order to reduce synchronization error, a novel hierarchical synchronization control strategy based on virtual synchronization control and linear active disturbance rejection control (LADRC) is proposed. The upper controller adopts the virtual synchronization controller based on the dynamic model of the virtual rear axle steering mechanism to reduce the synchronization error between the rear wheel steering angles of the ARIS system; the lower controller is designed based on an LADRC algorithm to realize an accurate tracking control of the steering angle for each wheels. Experiments based on a prototype vehicle are conducted to prove that the proposed hierarchical synchronization control strategy for the ARIS system can improve the control accuracy significantly and has the properties of better disturbances rejection and stronger robustness.
Highlights
With the development of electronic and control technologies, the active rear-wheel steering (ARS)system for automobiles has been actively studied as an effective vehicle maneuvering technology that can enhance the handling stability of the vehicle and provide better comfort and active safety for the driver [1,2,3]
The electric actuator of the ARS system is widely used in electric vehicles; compared with an hydraulic actuator, it can greatly reduce the mass and complexity of the ARS system
The kinematic relationship between the left and right rear wheels is still fixed in traditional Ackerman geometry
Summary
With the development of electronic and control technologies, the active rear-wheel steering (ARS)system for automobiles has been actively studied as an effective vehicle maneuvering technology that can enhance the handling stability of the vehicle and provide better comfort and active safety for the driver [1,2,3]. With the development of electronic and control technologies, the active rear-wheel steering (ARS). To achieve a more flexible steering control, active rear-axle independent steering (ARIS) system has drawn many attentions. The ARIS technology can be potentially applied in wheeled vehicles to realize a more intelligent and complex motion. Compared with the traditional steering trapezoid mechanism, the mechanical connection between the wheels of the rear axle is cancelled, and the flexible communication connection is replaced where each wheel is directly steered by an individual actuator motor [4]. Since each wheel of the rear axle has an independent actuator, it gets rid of the shortcomings and limitations of the traditional rack and pinion steering mechanism and further improves the dynamic performance of the vehicle.
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
