Steering Control System Research Articles

Theoretical framework of life circles in Chinese small towns and the optimization of spatial layout for public service facilities based on residents’ distance sensitivity

Due to China’s rapid urbanization, its residential areas and the residents in small towns exhibit dual and complex urbanization patterns and characteristics. The relevant national standards currently do not provide detailed guidance regarding the planning and construction of public service facilities and have failed to address the complexities of human–land urbanization patterns. Their “one-size-fits-all” approach toward facility programming has resulted in misalignment of facility supply and demand and in poor accessibility of public service facilities. As a result, many existing facilities are not used; frequently, facilities not included in the public service system are used, resulting in inefficient usage. Previously, the authors have investigated the functional programming of facilities, proposing a “required + optional item” public service facility guidance-control system based on the actual needs of residents, which addresses the issue of what types of facilities should be provided to residents. Building upon prior research, this study focuses on the spatial layout of facilities and explores the logic of suitable life circle planning in small towns in China. Specifically, this study extracts indicators such as tolerance distance, usage frequency, and functional demand to assess residents’ “distance sensitivity” in accessing facilities. It uncovers the differentiated characteristics of distance sensitivity among residents at different stages of urbanization regarding rural and non-rural facilities. The study proposes the determining principles for a life circle–layered partitioning mode in small towns and develops a model framework for suitable life circle. It defines the life circle partitioning and layers for residents at different stages of urbanization. Based on this framework, this study establishes a fundamental principle for preventing dissatisfaction among residents with low service expectations, proposing a “basic assurance + optimization enhancement” plan for life circle layers in rural- and urban-biased residential areas. This study addresses the uneven urbanization levels within small towns, revealing the spatial hierarchical relationships between facilities in urban- and rural-biased residential areas. Guided by the principle of “control + guidance,” it aims to offer local policymakers more flexibility, clarifying and correcting past “one-size-fits-all” approaches to facility planning. The goal is to elevate the standard of public services in small towns by providing methods of optimization and theoretical foundations for renewal practices and the refinement of construction-related regulations.

Optimization of the structure of the security communication system of on-board and ground equipment of the integrated radio complex for recovery of ground targets

The basis of the offensive ground grouping of the armies of the militarily leading countries are highly maneuverable objects (launchers of tactical missiles, batteries, platoons, sections of self-propelled guns, rocket launchers and mortars, self-propelled installations of anti-aircraft guns and anti-aircraft guided missiles with an autonomous system guidance, helicopters on landing sites, defeating these objects is artillery. According to estimated data, artillery in the confrontation with Russia accounted for 70 to 80% of all losses suffered by the parties to the conflict. The effectiveness of artillery fire depends on the total error of the shot, the number of guns involved in hitting the target, the rate of fire of artillery systems, the striking effect of ammunition and their number, the area of the target, the timeliness of its detection and opening fire on it. At the same time, the speed of detecting a highly maneuverable target and the accuracy of determining its coordinates play a key role in attacking the enemy with fire. Therefore, in the process of preparing data for firing and fire control, artillery reconnaissance means are of essential importance. The key tactical characteristics of artillery reconnaissance are maximum range and informativeness. The combination of these tasks consists in the integration of air and ground means of surveillance within the framework of a single automated radar complex for reconnaissance of firing positions and unmanned aerial vehicles (UAVs). The exchange of information between the ground and air components of the complex, the transmission of data to the automated guidance and fire control system takes place through the interference-protected communication channels using signal repeaters placed on the UAV. For the practical implementation of such complexes, new and improved known methods of signal generation and processing are proposed. The developed phase, clock and frame synchronization systems are based on the modernized scheme of the phase auto-frequency adjustment system, which makes it possible to reduce the time of entering into synchronization and increase the tracking band, significantly improve the quality of signal demodulation, and significantly increase the immunity of communication channels in the conditions of a complex interference environment. The mathematical models developed in the work made it possible theoretically and experimentally, through simulation modeling on computer, without material costs to evaluate the effectiveness of using the proposed new and improved known methods of synthesis of hardware to ensure communication with the necessary reliability and reliability of information transmission. Based on the results of simulation modeling, the structure of the radio channel using the relay of information signals and control commands, the structural diagrams of the transmitting and receiving devices, and the main technical characteristics of their constituent parts are determined. This made it possible to implement an experimental sample of the proposed system of interference-protected communication, to evaluate the achieved technical characteristics and to determine ways to improve them.

Dynamic Self‐Triggered Parallel Control of Guidance Intercept Systems With Constrained Inputs via Adaptive Dynamic Programming

ABSTRACTThis paper introduces an anti‐saturation optimization algorithm based on dynamic self‐triggered adaptive dynamic programming (ADP) for bounded acceleration guidance interception. By establishing a nonlinear input‐constrained guidance intercept and control system, the smooth bounded function is used to constrain the system input to ensure that the system operates in a controllable range. Subsequently, the appropriate performance function that can accurately reflect the system is designed. In alignment with the advantages of parallel control and ADP, a group of parallel systems are constructed by modeling the derivation of control input. A self‐learning control framework is explored, facilitating virtual‐actual interaction and mutual reinforcement between multiple controllers, optimizing the management of the interception system. Furthermore, event‐triggered control (ETC) policies are devised, which can be updated only when needed by setting trigger conditions, thus saving data resources. The stability proof of the closed‐loop system is given to ensure that the system can keep stable operation when the trigger condition is satisfied. On this basis, a dynamic self‐triggered control (DSTC) with soft computing is put forward, enabling trigger instant calculation without real‐time system monitoring and further extending the trigger interval. Simulation results evidence that the devised guidance scheme can intercept the maneuvering target at a reduced expenditure of communication resources.

Simulation-based Flexible Needle Control with Single-core FBG Feedback for Spinal Injections.

We present a general framework of simultaneous needle shape reconstruction and control input generation for robot-assisted spinal injection procedures, without continuous imaging feedback. System input-output mapping is generated with a real-time needle-tissue interaction simulation, and single-core FBG sensor readings are used as local needle shape feedback within the same simulation framework. FBG wavelength shifts due to temperature variation is removed by exploiting redundancy in fiber arrangement. Targeting experiments performed on both plastisol lumbar phantoms as well as an ex vivo porcine lumbar section achieved in-plane tip errors of and , and total tip errors of and for the two testing environments. Our clinically inspired control strategy and workflow is self-contained and not dependent on the modality of imaging guidance. The generalizability of the proposed approach can be applied to other needle-based interventions where medical imaging cannot be reliably utilized as part of a closed-loop control system for needle guidance.

Research on energy saving and control characteristics of back pressure controllable variable speed pump controlled steering system for heavy vehicles

Steering system of heavy vehicle facing intelligent and green development needs to satisfy the requirements of high precision and energy-efficient dynamic steering. Traditional steering systems use valved servo systems, which offer high steering accuracy but result in significant energy dissipation at the valve ports. In contrast, the variable speed pump control system (VSPCS) realizes the precise servo of steering system through direct volume control, which basically eliminates the energy dissipation at the valve port. However, the VSPCS lacks sufficient system stiffness due to low back pressure, making it difficult to achieve precise steering. To address these limitations, this paper proposes a back pressure controllable variable speed pump controlled steering system scheme (BCVSPCSS), which combines the energy-efficient flow supply of the VSPCS with a servo-proportional valve is used for back pressure control to, improving the dynamic performance of the system. This integration allows for precise steering while maintaining energy efficiency; The design of a dual objective nonlinear control strategy for angle and back pressure is crucial to deal with uncertainty and nonlinearity in the system. The Lyapunov analysis shows that the closed-loop system has asymptotic stability. In this paper, the experimental bench of BCVSPCSS is built for experimental verification. The results show that back pressure control effectively enhances the system’s immunity. Under the same working conditions, the maximum angle error of the two systems is roughly the same, both around 1°, while the energy consumption of BCVSPCSS is reduced by about 84.6% compared to the valve controlled steering system.

Haptic tele-driving design of vehicle steering control system with communication delay under complicated driving and road conditions

In this paper, stabilization of tele-driving system in presence of communication time delay is studied using a 103 DOF vehicle model generated in ADAMS/Car Software. The purpose of this study is achieving a real sense of driving for tele-driving system in virtual environment under complicated driving and road conditions. To this aim, the performance of the various control architectures, in terms of position and force tracking, are investigated. Hence, the two-channel architecture is chosen as the most appropriate scheme to implement the haptic control system for the vehicle steering mechanism. In this paper, we designed an effective haptic feedback control for vehicle steering mechanism in the tele-driving system so that a command can be exerted to steering wheel by the human operator, which passes through the communication channels and will be applied to unmanned vehicle steering system. It is verified that an appropriate coordination performance under the human input can be obtained with the proposed control framework. To overcome the possible instability problem associated with existence of time-delay in communication channels, wave variables and their corrections are effectively embedded into the control system. Finally, the proposed bilateral tele-driving control on a rough 3D road surface at complicated driving and road conditions in the presence of time-delay are examined comprehensively.

Robust Trajectory Planning of Gliding-Guided Projectiles with Weak Maneuverability

Due to constraints in launch platforms and cost, the maneuverability of gliding-guided projectiles is limited, necessitating a rational design of their trajectory schemes. To reduce the sensitivity of trajectory schemes to uncertainties while ensuring compatibility between flight schemes and guidance control systems and fully exploiting the control capability of the projectile, a closed-loop robust trajectory planning method is proposed. Models of major uncertain factors and state deviation at the control start point are established. Based on the NIPCE method, the stochastic dynamic model is transformed into a high-dimensional deterministic model with PCE coefficients as state variables, and the uncertainty propagation law is obtained. A PID algorithm is employed to design a tracking guidance law based on position error feedback, and open-loop and closed-loop robust trajectory planning models are established accordingly. The optimal control problem is solved by transforming it into a nonlinear programming problem using the direct shooting method. Our simulation results indicate that the NIPCE method can significantly improve the computational efficiency of uncertainty propagation while ensuring accuracy; compared with parallel MCS, the computation time is reduced by 96.8%. Open-loop robust planning can effectively mitigate the sensitivity of gliding trajectories to uncertainties (the standard deviations of terminal altitude and lateral deviations are reduced by 23.6% and 35.3%, respectively, compared to deterministic planning) but cannot completely eliminate terminal dispersion. Closed-loop robust planning effectively improves control effort consumption on the basis of open-loop planning.

Formal modeling and verification method for Simulink-MDL requirement model

Abstract As complex safety-critical system software becomes more powerful, so does the complexity of its design requirements. Modeling and analyzing design requirements at an early stage has become an integral part of the entire development process for complex safety-critical system software. Simulink is a system modeling and simulation tool used in aviation and other fields. Its model is stored in the form of MDL files. ART (Avionics Requirement Tools) is a requirement modeling and analysis verification tool for the aviation field. It uses VRM (Variable Relation Model) as the theoretical model and can accept VRM and its extended subsets as input models and verify them in the tool. The work of this paper is oriented to the typical software requirements in the field of avionics systems and proposes a formal modeling and verification method for Simulink-MDL models. First, the composition form and structure of the MDL model are analyzed in the article. The functions and semantics of various elements in the model are given. Then a formal modeling method of the MDL model is given. Finally, a simplified version of the flight guidance control system is used for modeling and verification to demonstrate the usability and effectiveness of this method.

Design and comparison of particle swarm optimization tuned Kalman filter based linear quadratic Gaussian controller and linear quadratic regulator for surface to air missile guidance system

AbstractThe study of missile guidance systems is a well‐known nonlinear control engineering area of research. To enhance the control performance of a missle guidance system, several technologies have been proposed in existing works. To resolve the weighting matrix selection issue of a linear quadratic Gaussian (LQG) controller for the surface‐to‐air missile guidance control system, this study utilizes the particle swarm optimization (PSO) technique. Selecting the best state (Q) and input (R) weighting matrices is a significant difficulty in the design of the LQG controller for real‐time applications since it affects the controller's performance and optimality. The weighting matrices are often chosen by a trial‐and‐error method that not only complicates the design but also does not yield optimal outcomes. Therefore, in this paper, a PSO method is developed and used in the design of the linear quadratic regulator (LQR) and LQG controllers for the surface‐to‐air missile control system to choose the elements of the Q and R matrices in the best possible way. Finally, a comparative analysis between the designed controllers was presented. The results shows that a good performance was achieved by using the proposed PSO‐tuned design process. The LQG and LQR are designed by manually adjusting the weighting matrices and utilizing an intelligent procedure, PSO algorithm which achieved optimal results. Further results indicate that the designed controllers, the PSO tuned LQR and LQG achieved a better performance over the manually adjusted LQR and LQG controllers.

Active suspension and steering system control of emergency rescue vehicle based on sliding mode dual robust coordination control

Active suspension and steering system control of emergency rescue vehicle based on sliding mode dual robust coordination control

The Utilization of Fuzzy Logic Controllers in Steering Control Systems for Electric Ambulance Golf Carts

This study investigates methods to improve steering control for electric ambulance golf carts by conducting a comparative analysis of fuzzy logic controllers. The research assesses four control systems, PD controller, fuzzy PD controller, fuzzy PD+I controller, and PBC and PD+I type fuzzy logic controller, to determine their effectiveness in enhancing steering control. Simulink simulations are employed to evaluate the performance of these controllers under various conditions. Results indicate that the PBC and PD+I type fuzzy logic controller demonstrates superior performance, showing significant reductions in both rise time and settling time with minimal overshoot compared to other controllers. The findings underscore the potential of fuzzy logic controllers in enhancing steering control for electric vehicles. Future research should explore alternative control strategies and assess controller robustness under diverse operating conditions.

Multi-Vehicle Unmanned Following Operation Driving System Based on OpenMV

In response to the low level of agricultural production automation and labor shortage, to improve the efficiency of agricultural machinery utilization and the reliability of automatic navigation, this paper designs an intelligent agricultural machinery system based on OpenMV for multi-vehicle unmanned following operations. Firstly, the kinematics of the agricultural machinery vehicle is analyzed, the path recognition and location line extraction are carried out using the OpenMV vision module, and the agricultural machinery steering control system is designed using the cascade PID closed-loop control technology, which achieves accurate steering control and path tracking on straight lines and curves. Subsequently, using embedded microcontrollers to manage the workflow, utilizing OpenMV visual modules to receive, store, and process positioning information, and sending control instructions to execution units such as the TB6612FNG motor drive module. Moreover, in response to the communication issues involving multiple HC-05 Bluetooth modules in the system's multi-vehicle communication, corresponding protocol specifications have been developed, and combined with the use of the HC-SR04 ultrasonic module to maintain dual vehicle distance and obstacle detection, achieving multi-vehicle collaborative following operations. The experimental results show that the system achieves a path recognition navigation accuracy of 93.4% and a communication success rate of 97.5% in simulating the process of farm harvesting and transportation, effectively proving the multi-vehicle collaboration of the system in the paper

Simulation and Validation of an 8 × 8 Scaled Electric Combat Vehicle

In this research, an 8 × 8 scaled electric combat vehicle (SECV) is built. The scaled vehicle is evaluated in both experimental and simulated methods to analyze its performance. The scaled vehicle is developed to apply the Ackermann condition by implementing the individual steering and individual wheel speed control system at low speed. Individual eight-wheel rotational velocity control and individual eight-wheel steering angle control in real time are developed and installed on the remotely controlled scaled vehicle to meet a perfect Ackermann condition. Three different steering scenarios are developed and applied: a traditional steering scenario (first and second axle steering), fixed third axle steering scenario (first, second, and fourth axle steering), and all-wheel steering scenario. Stationary evaluation, turn radius evaluation, and double lane change evaluation are conducted to verify the application of the Ackermann condition. The differences between the experimental results and the simulated data are within an acceptable range. An important demonstration of this research is the novel validation of physical and simulated data in the application of the Ackermann condition for eight-wheel steering and velocity control for the three steering scenarios.

Research on the Control Strategy for Handling Stability of Electric Power Steering System with Active Front Wheel Steering Function

<div>Due to the presence of uncertain disturbances in the actual steering system, disturbances in the system may affect the handling stability of the vehicle. Therefore, this article proposes an integrated steering system control strategy with stronger anti-disturbance performance. When disturbances exist in the system, the proposed control strategy effectively reduces the attitude changes during the vehicle steering process. In the upper-level control strategy, a variable transmission ratio curve is designed to coordinate the high-speed handling stability and low-speed steering sensitivity of the vehicle. On this basis, a sideslip angle observer is proposed based on the extended state observation theory, which does not depend on an accurate system model, thus determining the intervention timing of the active front wheel steering system. In the lower-level control strategy, DR-PI/DR-PID controllers are designed for the integrated steering system. Finally, experiments are conducted in the CarSim/Simulink joint simulation environment. The results indicate that compared to traditional PI/PID controllers and advanced ADRC controllers, DR-PI/DR-PID controllers can effectively suppress step disturbances, sinusoidal disturbances, and white noise disturbances while ensuring the dynamic response characteristics of the system. Under double-lane conditions, the root mean square values of the yaw rate and sideslip angle decrease by 4.35% to 12.3% and 3.21% to 7.72%, respectively. Therefore, the designed control strategy can improve handling stability while ensuring the robustness of the system.</div>

Feasibility of kinetic orbital bombardment

Abstract In this paper, the possible impact effects of orbital bombardment systems and their feasibility are studied. These effects are the projectile penetration into concrete and steel targets and seismic effects. The equations of motion for the re-entry of a projectile and the penetration were solved numerically. The projectile penetration is modelled using the Alekseevskii–Tate model. By varying the altitude (h), projectile length (L), manoeuvre velocity (ΔV) and the target properties, the flight time (t), earthquake magnitude (M) and penetration depth (P) are calculated. The calculations show that the impact of a tungsten alloy rod with a length of 8 m and a 0.4 m diameter results in an earthquake with a seismic magnitude of only 2.5 on the Richter scale. For concrete, the optimal result is obtained for a projectile with a length of 0.56 m. It penetrates 1.79 m with a minimal ΔV trajectory. These results show that a kinetic orbital bombardment system is not feasible without major technological developments, the impact angle being a bottleneck of the concept. Moreover, one has to accept very high costs. Without any means to change the attitude of the projectile, using ICBMs or bombers shows a better penetration performance than re-entry. Highlights Weapons in orbit may provide a strategic advantage. However, they are restricted by international space laws. Impact angle of the projectile is a bottleneck for kinetic orbital bombardment. Larger impact angles can be achieved, but at the expense of a larger mass-to-orbit. A hypersonic drag device may be used to optimise the impact angle and thus improve the system. Alternative projectile delivery methods (Bomber, Intercontinental Ballistic Missile (ICBM)) show better performance for both steel and concrete targets. Essentially, only penetration phenomena matter because the seismic effects are not significant. Therefore, orbital bombardment systems don’t even resemble weapons of mass destruction (WMD). Given their limited effect, destroying a particular target requires a guidance and flight control system, which, given the high velocities, may not be feasible.

Integrated robust control of path following and lateral stability for autonomous in-wheel-motor-driven electric vehicles

This paper presents an integrated robust H∞ control strategy for improving path following performance and lateral stability of autonomous in-wheel-motor-driven electric vehicles (AIEV) through integration of active front steering (AFS) and direct yaw moment control system (DYC). The AIEV system dynamics and its uncertain vehicle trajectory following system are first modeled, in which parameter uncertainties related to the physical limits of tire are considered and handled via the norm-bounded uncertainties, then the control-oriented vehicle path following augmented system with dynamic errors is developed. The resulting robust H∞ controller with AFS and DYC (RHCAD) of AIEV trajectory-following system is finally designed, and solved utilizing a set of linear matrix inequalities derived from quadratic H∞ performance and Lyapunov stability. Meanwhile, the performance index of H∞ norm from external disturbance to controlled output for AIEV path following is attenuated while other system requirements such as parameter uncertainties, system constraints are also guaranteed in controller design, and then the quadratic D-stability is also utilized to enhance the transient response of the closed-loop AIEV system. Simulations for J-shaped, single lane change and double lane change maneuvers are carried out to verify the effectiveness of the proposed controller with a high-fidelity, CarSim®, full-vehicle model. It can be concluded from the results that the proposed robust H∞ control strategy integrating AFS and DYC can improve the path following performance and lateral stability of AIEV compared with traditional linear quadratic regulator controller with AFS (LQRA) and robust H∞ controller with AFS (RHCA).

Combined control methods of the steering and traction system of in-wheel electric vehicle for a double lane-change in a low friction coefficient environment

This paper proposed advanced design strategy of adaptive controller for steering and traction control system of in wheel EV is proposed. Proposed algorithm is highly recommended for the first step driver to drive car under unstructured environment. When people drive a car on low friction coefficient road such as snowy or icy road, slip could be happen which disturb safe driving. This paper proposed stable driving algorithm when driving on snowy or icy road. Proposed algorithm has been verified and demonstrated through the co-simulation between Carsim and Matlab.

Electric power steering system controller design using induction machine

Electric power steering system controller design using induction machine

Coordination of Active Front Steering and Direct Yaw Control Systems Using MIMO Sliding Mode Control

Coordination of Active Front Steering and Direct Yaw Control Systems Using MIMO Sliding Mode Control

Simplified Maneuvering Strategies for Rendezvous in Near-Circular Earth Orbits

The development of autonomous guidance control and navigation systems for spacecraft would greatly benefit applications such as debris removals or on-orbit servicing, where human intervention is not practical. Within this context, inspired by Autonomous Vision Approach Navigation and Target Identification (AVANTI) demonstration, this work presents new guidance algorithms for rendezvous and proximity operations missions. Analytical laws are adopted and preferred over numerical methods, and mean relative orbital elements are chosen as state variables. Application times, magnitudes and directions of impulsive controls are sought to minimize propellant consumption for the planar reconfiguration of the relative motion between a passive target spacecraft and an active chaser one. In addition, simple and effective algorithms to evaluate the benefit of combining in-plane and out-of-plane maneuvers are introduced to deal with 3D problems. The proposed new strategies focus on maneuvers with a dominant change in the relative mean longitude (rarely addressed in the literature), but they can also deal with transfers where other relative orbital elements exhibit the most significant variations. A comprehensive parametric analysis compares the proposed new strategies with those employed in AVANTI and with the global optimum, numerically found for each test case. Results are similar to the AVANTI solutions when variations of the relative eccentricity vector dominate. Instead, in scenarios requiring predominant changes in the relative mean longitude, the required ΔV exhibits a 49.88% reduction (on average) when compared to the original methods. In all the test cases, the proposed solutions are within 3.5% of the global optimum in terms of ΔV. The practical accuracy of the presented guidance algorithms is also tested with numerical integration of equations of motion with J2 perturbation.