Model Of Steering System Research Articles

Electric Vehicle Steering System Fuzzy Modeling and Controller Design

Electric vehicle (EV) steering control becomes much more important in many senses such as driving comfort and safety. Unlike the traditional internal combustion engine powered vehicles that possess only one control input related to the steering wheel, the so‐called direct yaw moment control is yet another control input in EVs thanks to the dispersedly located in‐wheel motors. In view of controller design crucially depending on a proper mathematical model, this paper first focuses on the modeling of EV steering system with uncertainty in the system considered for the latter robust controller design. Then a Takagi‐Sugeno (T‐S) fuzzy model is obtained based on the EV's model, which is capable of varying vehicle velocity in a range. Finally, a robust controller with inputs constraint is designed based on the model, and the effectiveness is verified by computer simulations. © 2024 Institute of Electrical Engineers of Japan and Wiley Periodicals LLC.

Multilevel Evaluation Model of Electric Power Steering System Based on Improved Combination Weighting and Cloud Theory

In order to rapidly evaluate the working performance of an Electric Power Steering System (EPS) and clarify the key indicators that affect its working condition, targeted maintenance measures can be taken to improve the vehicle’s handling, stability, and safety. This paper took an EPS system as the research object and decomposed it into five working indicators: steering lightness, steering returnability, steering wheel mid-zone performance, steering wheel vibration, and power assist characteristics. On this basis, the subjective exponential extension Analytic Hierarchy Process (AHP) was combined with the objective improved entropy weight method, and then the combination weighting method of game theory was employed to ensure that the results were reliable. At the same time, a cloud model was introduced to understand the actual situation of each indicator by using cloud parameters and multi-level feedback results. According to the principle of maximum membership and the comprehensive evaluation method, the EPS performance evaluation result was obtained. The results showed that the comprehensive cloud parameter of EPS was U (74.31, 6.08, 0.50), which indicated that its working performance was in good condition, with some minor damage that did not affect its normal use; however, attention should be paid to the maintenance and repair of vulnerable components to ensure the handling, stability, and safety of the vehicle.

Performance Research of Dual Power Flow Continuous Differential Steering System for Tracked Vehicle

The tracked vehicle has good passability and adaptability for different complex environments, and also can maintain a stable posture with the ability to regulate flexible posture. Therefore, it is necessary to design a steering system with continuous and accurate steering radius and high transmission efficiency. The dynamic model of differential steering system was established including input rotate speed and output rotate speed. The dynamic model between input rotate speed and steering radius was obtained according to the relationship of output rotate speed and steering radius. The dynamic model of steady steering including the length, gauge, ground instantaneous center offset and so on of tracked vehicle was built, which could be used to predict the steady state steering characteristic of tracked vehicle.

Trajectory tracking control considering the transmission backlash of the dual-motor autonomous steering system

In order to solve the tracking error caused by transmission backlash in the dual-motor autonomous steering system, and thus improve the trajectory tracking accuracy of autonomous vehicles, a novel steering control strategy combining sliding model control (SMC) with variable weights and linear quadratic regulator (LQR) is proposed in this paper. Firstly, the vehicle dynamics model is built and the steering system model with contact and backlash modes is established by combining it with the simplified gear backlash system. Secondly, the front wheel angle control based on SMC is designed and the weights of contact mode and backlash mode are optimized by Particle Swarm Optimization (PSO) algorithm. Finally, the results of simulation under typical conditions show that the proposed strategy has better accuracy of angle tracking and stronger adaptability to the change of system load. Furthermore, it is also proved by simulation and Hardware-in-Loop (HiL) test under different trajectory tracking conditions that the LQR controller with proposed strategy has better accuracy of trajectory tracking for autonomous vehicles.

Adaptive Robust Path Tracking Control for Autonomous Vehicles Considering Multi-Dimensional System Uncertainty

As the bottom layer of the autonomous vehicle, path tracking control is a crucial element that provides accurate control command to the X-by-wire chassis and guarantees the vehicle safety. To overcome the deterioration of control performance for autonomous vehicle path-tracking controllers caused by modeling errors and parameter perturbation, an adaptive robust control framework is proposed in this paper. Firstly, the 2-DOF vehicle dynamic model is established and the non-singular fast terminal sliding mode control algorithm is adopted to formulate the control law. The unmeasured model disturbance and parameter perturbation is regarded as the system uncertainty. To enhance the control accuracy, the radial basis forward neural network is introduced to estimate such uncertainty in real time. Then, the dynamic model of an active front steering system is established. The model reference control algorithm is applied for the steering torque control considering model uncertainty brought by the dissipation of manufacturing and mechanical wear. Finally, the Simulink–CarSim co-simulation platform is used and the proposed control framework is validated in two test scenarios. The simulation results demonstrate the proposed adaptive robust control algorithm has satisfactory control performance and good robustness against the system uncertainty.

Optimization Design of Suspension and Steering System for FSAE Racing Car

The China Formula Student Car Competition has been growing in recent years. In order to improve the steering lightness and body stability of FSAE cars when driving under high-speed and multi-curve conditions. This paper constructs a three-dimensional model of suspension and steering system through CATIA according to the requirements of race rules, applies ADAMS/Car module to simulate the suspension system with two-wheel isotropic excitation, obtains the change curve of suspension performance parameters, and uses ADAMS/Insight module to optimize the unreasonable parameters through the analysis results. Based on the preliminary optimized suspension system, MATLAB is used to optimize the steering trapezoidal mechanism to make the wheel steering on both sides of the race car more closely match the ideal Ackerman geometry relationship. Finally, ANSYS is applied to finite element analysis of the important parts of the suspension and steering system to ensure that their structure and materials can meet the requirements of the whole car design.

PSO-Based Variable Parameter Linear Quadratic Regulator for Articulated Vehicles Snaking Oscillation Yaw Motion Control

In this paper, the seven degrees of freedom (DOF) nonlinear system model of articulated vehicles, including the vehicle dynamics model, tire and hydraulic steering system model, and the linearized ideal reference model, is constructed. A layered stability controller for the articulated vehicle is built. The particle swarm optimization (PSO)-based variable parameter linear quadratic regulator (LQR) for the upper-level yaw torque controller and the lower-level torque distributor based on the principle of the minimum tire utilization are established. The effectiveness of the LQR upper-level yaw torque controller for an articulated vehicle at different speeds and control references are compared and analyzed through feedforward and feedback control. We optimize the parameters in the LQR controller using PSO and verify the improvement in the controller’s performance with optimized parameters. Overall, the effect of front and rear-integrated control is best, followed by rear-based and front-based control. The PSO algorithm to optimize the LQR controller parameters for snaking oscillation control is effective.

Design and Verification of Crab Steering System for High Clearance Self-Propelled Sprayer

A crab steering system aiming at improving the steering flexibility and operation efficiency of the high clearance sprayer was designed. First, a steering transmission mechanism of the high clearance sprayer was designed according to the operational and structural characteristics of the sprayer. Meanwhile, a crab steering hydraulic system based on load sensing was designed, and a mathematical model of the steering transmission mechanism and hydraulic system was established to describe the working characteristics of the crab steering system. On the basis of analyzing the operating environment of the sprayer and the operating characteristics of crab steering mode, a control strategy and algorithm of the crab steering system were proposed. The simulation model of the crab steering control system was built according to the established mathematical model, and the simulation analysis of the crab steering system was carried out. The simulation results showed that under the excitation of step signal, the average deviation of the two front wheels is 0.063°, and the absolute value of the maximum deviation is 2.75°, which is within the allowable range of deviation and meets the crab steering demand of the sprayer. Additionally, in order to verify the effectiveness of the designed system, an actual vehicle test platform of the crab steering system was built based on the 3WPG-3000 high clearance self-propelled sprayer independently developed by the research group, and the field test results revealed that the average deviation of the four wheels was 0.285°, the maximum absolute deviation was 2.587°, the rotation deviation was small, within the allowable and reasonable range. Altogether, the results of the simulation and field test verify the accuracy, stability and practicability of the crab steering system, which effectively improved the maneuverability of the sprayer.

A Novel Design and Simulation of Adjustable Steering Geometry, Fiyanshu P. Nagrare, Prachi S. Somkuwar, Monika B. Parate,

Designing and Analysing an Electric Kart is a vast platform for the students. So many competitions are used to organize for the students on this platform. It's beneficial to the students to enhance their learning and gain practical knowledge of various systems of Kart like steering system, braking system, transmission system, etc. This thesis presents the effect of multiple parameters on the performance of the steering system of the e-kart. It covers the design and analysis of stresses generated on steering components and to obtain the optimum safe design. The conceptual model of the E-Kart steering system is developed and used to illustrate the purpose of this study. The inner wheel and outer wheel angle of the steering system are studied using the steering equation. The simulation results reveal that the stresses generated on the steering system components are below the permissible stresses to assure that all members are safe for their maximum Stress. Also, several iterations are conducted on meshing to determine its stability, followed by the convergence tool. This research is intended to help undergraduates by giving a neat overview of E-kart's design and Simulation to participate in national competitions. This project work aims to point out the findings and studying on the steering system of the Kart.

INVESTIGATION OF OPERATION OF THE HYDROVOLUMIC MANUAL CONTROL SYSTEM ON THE BASIS OF A DOSING PUMP WITH AXIAL SPOILER WITH ACCIDENTAL LOAD

One of the factors ensuring the stable development of agriculture is high-quality and reliable equipment. Today, the development of hydraulic drives has largely led to its widespread use in agricultural machinery and tractors. One of the systems fully hydrogenated in heavy agricultural machinery is the steering system. Hydrovolume steering system has the following advantages - compactness, freedom in the layout of the machine, high efficiency, accuracy, the ability to transfer significant effort to the steered wheels with minimal effort of the operator. Disadvantages include certain restrictions when the associated load on the steered wheels when turning. This parameter is one of the indicators of the quality of hydrovolume steering systems and the minimum effort at which the process of assembling the wheels begins, is regulated by international standards. The article performs mathematical modeling of the hydrovolume steering system. The mathematical model consists of the equations of continuity of flows of the working fluid, the equations of moments and the Lagrange equation of the 2nd kind, which describes the operation of the planetary gearbox. The search for solutions of this model was carried out using the original software, built on the basis of the Runge-Kutta-Feldberg method with an automatic integration step. As a result of the analysis of the received transient processes areas of steady work were constructed that allowed to receive a ratio of parameters of system at which its steady work is provided. The proposed design solution allowed to increase the limit value of the associated load in excess of which there is a spontaneous movement of the steered wheels. The analysis of the workload at the associated load had a significant impact on the values of the overlap of the working edges on any work of the system under the action of the associated load, and the correct selection of these floors can achieve significant quality improvement.

A model predictive control approach for angle tracking of steer‐by‐wire system with nonlinear transmission ratio

AbstractSteer‐by‐wire for full self‐driving vehicles requires rapid angle tracking in the process of steering, making steering system stability paramount. This is particularly challenging for steering wheels accurately without handwheel, for which road feedback information is scarce. While much of the research on steer‐by‐wire has focused on improving the stability of vehicle dynamics, comparatively little is known about the angle tracking control of steer‐by‐wire system for full self‐driving vehicle. Here, we discuss a series of studies on the steering dynamics model and nonlinear transmission ratio of steering system that, collectively, design an angle tracking approach of how the model predictive control algorithm steers the front wheels precisely. The designed approach has been downloaded into a steering control unit and tested by some steering cycles in a steering test bench to fully realize angle tracking control of steer‐by‐wire system in practical engineering.

Liquid crystal spatial light modulator based non-mechanical beam steering system fractional-order model.

The liquid crystal spatial light modulator (LCSLM) is an optical device that can realise non-mechanical beam scanning. However, the traditional integer-order model cannot adequately characterise the dynamic performance of LCSLM beam steering because of the viscoelasticity of liquid crystals. This paper uses the memory characteristics of fractional calculus to construct a fractional constitutive equation for liquid crystals. Combining this equation with the LCSLM beam steering principle, a fractional-order model of the beam steering system is established, and the Legendre wavelet integration operational matrix method is used to estimate the model parameters. In addition, we established a test platform for the dynamic characteristics of LCSLM beam steering system and verified the effectiveness of the established model through experiments. The fitting effects of the integer-order and fractional-order models are compared, and the influence of different model orders on the dynamic performance of beam steering is analysed. Experimental results show that the fractional-order model can accurately describe the dynamic process of beam steering, and this model can be applied to the study of LCSLM-based two-dimensional non-mechanical beam steering control strategies to achieve fast, accurate, and stable beam scanning.

H-Infinity Observer for Vehicle Steering System with Uncertain Parameters and Actuator Fault

In this paper, an actuator fault diagnosis and reconfiguration problem is discussed for an uncertain vehicle steering system with external disturbances. Aiming at the factors affecting the control performance, a fault reconstruction strategy based on H-infinity observer is designed to improve the vehicle stability under complex conditions when the actuator fails. Firstly, aiming at the uncertain part caused by the road condition transformation, a mathematical model of dual input and dual output four-wheel steering system is established. Secondly, an augmented system is constructed in which the augmented state vector consists of the original state and actuator faults. Thirdly, the H-infinity observer is designed, and the gain of the observer is obtained by the Lyapunov function and linear matrix inequality. Finally, the effectiveness of the proposed strategy is verified by MATLAB/Simulink and Carsim co-simulation.

Experimental Validation of Torque-Based Control for Realistic Handwheel Haptics in Driving Simulators

A realistic steering feel is one of the key elements to guarantee fidelity on a driving simulator in general, and in particular to replicate on-centre vehicle handling. This requires precise modelling of the steering dynamics, a high bandwidth control loading system, and coupling of virtual and physical components in agreement with computational requirements and hardware limitations. For such a coupling, the common approach position-based control uses the measured signals of steering wheel angle and steering rate as inputs to the steering system model. This paper proposes an alternative torque-based control scheme using steering torque as an input to the steering system with additional compensation. Torque-based control was designed and evaluated in conjunction with detailed electric power steering models including state-of-the-art friction models, a neuromuscular driver model, and two driver-in-the-loop experiments in a high-end driving simulator. The objective analysis performed by means of the neuromuscular driver model reveals that the driver applies less impedance i.e. the driver is less stiff on a driving simulator when steering feedback is provided with the torque-based control compared to the position-based control. The investigations demonstrate that torque-based control reduces haptic response delay and vibrations caused by friction modelling compared to position-based control. The driver-in-the-loop experiments show significant objective effects on steering performance and subjective evaluation of fidelity and effort. We conclude that the proposed approach closes the vehicle-driver loop with more realism in a driving simulator.

SIMULATION OF TROLLEBUS STEERING SYSTEM WITH ELECTRIC POWER STEERING BASED ON ROLLING ROTOR SWITCHED RELUCTANCE MOTOR

The analysis of power steering which used on modern rolling stock is carried out. Their main shortcomings are identified. Given the requirements for the steering of trolleybuses, a solution to increase its efficiency is proposed. Based on the developed mathematical model and functional diagrams of the trolleybus steering system with a electric power steering based on rolling rotor switched reluctance motor, a simulation model of trolleybus steering was created using the Matlab Simulink package. The peculiarity of the simulation model is taking into account the mass and size characteristics of the rolling stock, the parameters of the suspension of the steered axle, the impact of the road surface and the speed of the trolleybus, changes in the parameters of the electric motor magnetic system during operation. The rolling rotor switched reluctance motor which is offered for use as the electric power steering of the LAZ E183D1 trolleybus is calculated. The calculation of the magnetic system of the engine by the finite element method with the subsequent approximation of the obtained results is carried out. With the help of the developed simulation model the simulation of the trolleybus steering system with electric power steering based on rolling rotor switched reluctance motor was performed. Time diagrams of transients in the trolleybus steering system are obtained and their processing and analysis are carried out.

Steering feel improvement by mathematical modeling of the Electric Power Steering system

Currently, the Electric Power Steering (EPS) system is an essential component of the vehicle because it provides assistive steering torque to the driver. To ensure a faster steering response, the position of the EPS in some vehicles is moved closer to the tire rather than the steering wheel. The steering torque, which is provided by the EPS in the steering system, mainly affects the driver’s feel while steering. Therefore, the driver often feels uncomfortable owing to such positioning of the EPS in the steering system. In particular, the nonlinearity of the Universal Joint (UJ), which is one of parts of the steering system, can be felt at the steering wheel side.In this paper, we proposed an algorithm based on the mathematical model of the steering torque in the steering system to improve the steering feel. The mathematical model is structured using parameters that can be obtained from the information of the steering system. Moreover, the formulation of the steering torque consists of the two parts, namely the deformation part, which describes the propagation inside the steering system, and the friction part that describes the inherent friction in the UJ.Simulation and experiments were conducted to verify the proposed mathematical model with similar conditions to the real tire load during the steering motion. Furthermore, to improve the driver’s feel during steering, a torque compensation algorithm is proposed and verified through experiments.

Development of a mathematical model of the trolleybus steering system using a rolling rotor switched reluctance motor

An important part of the overall task of social and economic development of many developed countries is the creation of a unique transport infrastructure or improvement of transport services for the population.
 The cumulative solution to many problems is to improve the quality and reliability of elements and equipment in any vehicle design. This determines its efficient operation and the safety of passengers.
 A common urban electric transport in megacities is a trolleybus, the reliability of which depends on individual components and assemblies, power supply systems and traffic control.
 But this type of transport requires modern scientific and technical solutions for the design of individual components and assemblies, for example, steering, which is directly related to the safe and comfortable transportation of passengers.
 An innovative technical solution has been proposed that will increase the energy efficiency of the trolleybus steering system through the use of an electric power steering based on a rolling rotor electric motor. The analysis of the design is carried out and the principle of control of the rolling rotor motor is determined. Functional diagrams of the components of the trolleybus steering system with an electric power steering based on a rolling rotor motor are developed. The electromagnetic and mechanical connections of the motor with the rolling rotor are determined and mathematically described. Factors affecting the steering system when turning the steered wheels are reasoned. A mathematical model of a trolleybus steering system with an electric booster based on an electric rolling rotor motor has been developed. The mathematical model is based on the differential equations of the electrical and mechanical parts. Algebraic equations were used to characterize the electromagnetic connections of the rolling rotor motor. The proposed solution will allow simulating dynamic processes in the trolleybus steering system and evaluating the results. Determination of the efficiency of the steering system was carried out by comparative analysis of the following factors: the control action created by the driver, the condition of the road surface, dynamic and transient electromechanical processes of the system, and the like

Haptic control of steer-by-wire systems using parameter estimation of rack system lateral load model

This paper describes a haptic control of steer-by-wire systems for rendering the conventional steering system under various road conditions using parameter estimation of rack system lateral load model. To design the conventional steering system model, the dynamic model of a rack system has been developed as a mass-spring-damper system with a friction model. An online parameter estimation of the rack system was designed to consider the various road conditions in the haptic rendering. In a steering wheel system, which is a haptic device, a limit cycle, and instable behavior can occur due to the sampling rate and quantization. To prevent the limit cycle and instable behavior, a passivity analysis was conducted and constraint conditions of the rendering coefficient was derived. The haptic control algorithm is designed to render the conventional steering system without limit cycles using passivity conditions. The performance of the proposed controller was evaluated via both computer simulations and vehicle tests under various steering conditions. The results demonstrate that the proposed algorithm ensures haptic rendering performance on dry and wet asphalt conditions.

Modelling and Stability Analysis of Articulated Vehicles

This study constructs a nonlinear dynamic model of articulated vehicles and a model of hydraulic steering system. The equations of state required for nonlinear vehicle dynamics models, stability analysis models, and corresponding eigenvalue analysis are obtained by constructing Newtonian mechanical equilibrium equations. The objective and subjective causes of the snake oscillation and relevant indicators for evaluating snake instability are analysed using several vehicle state parameters. The influencing factors of vehicle stability and specific action mechanism of the corresponding factors are analysed by combining the eigenvalue method with multiple vehicle state parameters. The centre of mass position and hydraulic system have a more substantial influence on the stability of vehicles than the other parameters. Vehicles can be in a complex state of snaking and deviating. Different eigenvalues have varying effects on different forms of instability. The critical velocity of the linear stability analysis model obtained through the eigenvalue method is relatively lower than the critical velocity of the nonlinear model.

Simulation Analysis of Vehicle Handling Stability Based on Trucksim

Based on the Trucksim simulation platform and referring to the parameters of the real vehicle, the vehicle body model, tire model, powertrain model, steering system model and braking system model was constructed. After the parametric modeling of the whole vehicle, the steering wheel angle step test was selected for simulation verification referring to the standards of automobile handling stability test in China. Besides, the vehicle handling stability was analyzed with changing part of the vehicle structure parameters. The research result shows that, although the response forms of vehicle motion parameters are different, they all indicate that the faster the vehicle speed is, the more obvious the vibration of vehicle parameter curve will be, and the vehicle handling stability performance will decrease accordingly. In the steering wheel angle step test, by changing the height of the vehicle’s center of mass and the front and rear wheelbases, it can be explained that reducing the height of the vehicle’s center of mass and increasing the wheelbase can improve the handling stability of the vehicle.