Abstract
A novel structure of a four-wheel-independent-steering (4WIS) electric vehicle (EV) with steer-by-wire (SbW) system is proposed. To solve the problem of dynamic steering mode switch, the models of the 4WIS EV and its SbW system are built. Steering mode switch control algorithms are designed based on the restrictions, and the controller of SbW system is designed using sliding mode control theory. Two typical steering mode switch conditions are selected and simulated, i.e., from front-wheel steering (FWS) to rear-wheel steering (RWS) and from FWS to four-wheel steering (4WS). The simulation results show that the feasibility of the steering mode switch control algorithms and the accuracy of the steering angle tracking control of the sliding mode controller are verified. Furthermore, real vehicle tests also indicate that the designed control algorithms can make the prototype realize various steering mode switches effectively via data acquisition and analysis.
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