Steering System Research Articles

Сравнительный анализ принципов проектирования электрогидравлических рулевых машин скоростных судов

The composition and control principles of steering electro-hydraulic machines of a simple and follower type, intended for rudder shifting of small and high-speed vessels are considered. An analysis of the functioning of existing steering gears for the specified group of vessels was carried out. Deficiencies in the work associated with the element base and composition of the control and electric drive systems of the analyzed steering machines have been formed. The features of the operation of hydraulic systems with drive electric motors of pumps made on direct current, revealed as a result of experiments, are shown. Variants of technical solutions for improving the energy performance of the electric drive are proposed. A comparative analysis of the operation of steering machines with AC and DC drives has been carried out. An assessment of steering machines operation in normal and emergency modes is given. Structural diagrams of control systems of simple and follow-up action are proposed, taking into account the operating features identified during the analysis and the requirements of the Russian classification society. The possibility of implementing an SM electric drive built using a frequency converter – asynchronous motor system powered by an alternating current network and an emergency source has been shown. Options for the implementation of electric drives for pumps of hydraulic stations with a high-voltage battery are proposed. The possibility of creating domestic installations for steering and other ship mechanisms, according to the proposed structural diagrams of control systems for hydraulic stations for high-speed ships, is shown. Recommendations are given for the construction of steering gears for high-speed vessels with a total displacement of up to 100 tons using domestic electrical equipment.

Research on Path Tracking Fault-Tolerant Control Strategy for Intelligent Commercial Vehicles Based on Brake Actuator Failure

With the development of safety technologies for intelligent commercial vehicles, electronic pneumatic braking systems (EBSs) have been widely used. However, EBS actuators may fail during vehicle operation and thus create safety problems. For this reason, we propose a path-tracking fault-tolerant control strategy under EBS actuator failure in intelligent commercial vehicles. First, in order to be able to characterize different types of brake actuator faults during the EBS differential braking process of a vehicle, a comprehensive fault coefficient for calculating the degree of fault is designed, and a BES generalized fault model is established. Second, the faults are introduced into the fault-tolerant controller through the comprehensive fault coefficients for braking torque calculation and braking pressure allocation. Thus, a vehicle path model with the complete fault coefficients as variable parameters is established. Then, based on the LPV system gain scheduling, a path-tracking LPV/H∞ fault-tolerant controller under EBS actuator faults in commercial vehicles is designed, which is used to solve the safety problem arising from sudden EBS actuator faults. Finally, we conducted experimental validation through hardware-in-the-loop tests. The results demonstrate that the control strategy designed in this paper redistributes the braking torque and synergizes with the steering system to enhance vehicle stability, thereby improving vehicle safety in the EBS failure mode.

Integrated control of anti-rollover for high-mobility emergency rescue vehicles

In this paper, an integrated anti-rollover control strategy is proposed to solve the rollover stability problem of emergency rescue vehicles. The integrated anti-rollover control is performed on the Active suspension system and the multi-axle steering system. Firstly, establish an eleven-degree-of-freedom coupled dynamic model for the vehicle; Secondly, the H∞/generalized H2 output feedback controller for Active suspension is designed, and the multi-axle steering LQR controller is designed; The upper level coordinated fuzzy controller is designed again, and the integrated control strategy of anti-rollover is used to integrate the Active suspension system and the multi-axle steering system. The test results show that, compared with the uncontrolled vehicle, the root mean square value of the lateral load transfer rate of the vehicle under integrated control decreased by 14.3%, 12%, and 10.9%; the root mean square values of lateral acceleration decreased by 26.8%, 22.8%, and 27.4%, respectively; the root mean square values of roll angle decreased by 27.7%, 25.2%, and 29.1%, respectively; respectively in the three-vehicle tests, and the proposed integrated control strategy for rollover prevention effectively improved the rollover prevention ability of emergency rescue vehicles.

Design method of rack-and-pinion pair with pure rolling variable transmission ratio

Rack-and-pinion pair with variable transmission ratio can achieve the unity of vehicle steering portability and sensitivity, and effectively reduce vehicle steering energy consumption. Therefore, they have gradually become the standard core components of steering system. However, the gear surface of rack-and-pinion pair with variable transmission ratio is seriously worn under long-term service, which leads to the degradation of performance and cannot achieve the theoretically variable transmission ratio. To solve these problems, a new configuration of rack-and-pinion pair for commercial vehicle with herringbone pure rolling variable transmission ratio is proposed in this paper. The tooth surface mathematical model of the fully-conjugate variable transmission ratio is established based on the variable speed envelope principle, and the formula for calculating pure rolling point of tooth surface with variable transmission ratio is derived. The tooth point deviation equation of fully-conjugate variable transmission ratio is proposed, and the method of constructing pure rolling variable transmission ratio tooth surface is formed. The finite element analysis shows that the design of the pure rolling rack-and-pinion pair with variable transmission ratio has good tooth surface quality without the phenomenon of contact spot intermittent and edge contact during the meshing process, and the contact ellipse center of the tooth surface is located at the theoretical pure rolling point of the tooth surface. The measured transmission ratio curve of the samples is in good agreement with the theoretical variable transmission ratio curve, and the transmission ratio error is within a reasonable range. The contact strips of tooth surface impression test are consistent with those of finite element analysis, which indicates that the designed rack-and-pinion pair with variable transmission ratio has the characteristics of pure rolling and point contact. The tooth surface wear test shows that the wear of pure rolling gear surface with variable transmission ratio is obviously less than that of traditional gear surface with variable transmission ratio. The above tests and simulation indicate the correctness of the design method.

A novel data augmentation method for steering mechanism fault diagnosis based on variational autoencoding generative adversarial networks with self-attention

Learning the original data distribution and generating new samples has proven to be an effective approach in addressing the issue of data imbalance. This paper combines the strengths of generative adversarial networks and variational autoencoder, proposing a novel data augmentation method named variational autoencoding generative adversarial networks with self-attention. Specifically, an encoding-decoding process is introduced during the generative adversarial process to provide distribution information for the generator’s sampling space, thereby accelerating the model’s convergence speed and simultaneously improving the quality of generated samples. Additionally, a self-attention module is incorporated into the discriminator to capture global information from the input data, guiding the generator. During the training process, overlapping sampling and feature-layer matching are employed. Comparative experiments with other advanced algorithms on both public and engineering datasets with multiple imbalanced cases demonstrate that the proposed method can generate high-quality samples, effectively enhance original imbalanced data, and exhibit strong generalization and robustness.

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.

Politics of creep: Latent development, technology monitoring, and the evolution of the Schengen Information System

Abstract The Schengen Information System for law enforcement, border control, and judicial cooperation in the European Union has over the years seen a considerable expansion of the amount and types of data stored and its functionalities, as well as its user base. In light of this transformation from a simple information-sharing tool to a full-blown investigative database, there has, however, been surprisingly little public debate and pushback against the growing surveillance and control capacities that the system enables. This article proposes to understand the largely uncontested evolution of the SIS through the concept of ‘creep’, i.e. the incremental, unforeseen, and/or stealthy development of a technological system beyond what it was originally introduced for. More specifically, it retraces how creep has in the case of the SIS been enabled and facilitated through (1) latent development principles, i.e. the rationale of building dormant features into a system that can be activated at a later point in time once technology has sufficiently matured and/or legal foundations have been adopted; and (2) technology monitoring and steering mechanisms, i.e. the continuous assessment of the readiness of key technologies for anticipated updates to the system as well as interventions in publicly funded research programmes.

Active Fault-Tolerant Control of a Four-Wheel Independent Steering System Based on the Multi-Agent Approach

In this paper, we present an active fault-tolerant, vehicle motion control, based on the multi-agent approach for a four-wheel independent steering system. This improves handling stability and active safety of the vehicle in the case of actuator faults. Firstly, an eight-degree-of-freedom four-input vehicle model is established by using the vector transformation method, which takes the four-wheel angle as the input and the yaw rate and the sideslip angle, obtained by the lateral force of a single wheel, as the outputs. Then, we established the topological structure of the four-wheel independent steering subsystems based on graph theory. Aiming at the known fault conditions, an adaptive sliding mode active fault-tolerant control based on the multi-agent four-wheel independent steering system is proposed, in which the unmodeled part of the system is estimated using adaptive methods. For unknown fault conditions, an active fault-tolerant control of the four-wheel independent steering system based on state observer is proposed. An extended state observer with sliding mode surface function as a state variable is designed to estimate actuator faults. Finally, it was demonstrated that the designed state observer and distributed active fault-tolerant control method reduced the impact of actuator failures on vehicle steering and improved the stability of the steering process based on the Lyapunov theory. The hardware in the loop experimental results validate the effectiveness of the proposed novel method.

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>

Vehicles with cooperative redundancy of multiple steering systems: A hybrid shaft/hydrostatic drive system

Vehicles with cooperative redundancy of multiple steering systems: A hybrid shaft/hydrostatic drive system

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.

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.

Adaptive multi‐level differential coupling control strategy for dual‐motor servo synchronous system based on global backstepping super‐twisting control

AbstractA new dual‐motor servo steering system with improved reliability and safety is proposed. But, despite the advantages of the proposed servo system, it is strongly coupled, non‐linear and multivariable, where the biggest challenge lies in its tracking and synchronization control. To improve the tracking and synchronization control performance of the proposed servo system, a tracking and synchronization control strategy based on backstepping super‐twisting control and multi‐level differential coupling is presented. First, a parallel model of the dual‐motor is established. Then, backstepping and super‐twisting control algorithms are integrated while adaptively optimizing key parameters to ensure the robustness and tracking performance of each motor. After that, an angular synchronization controller with multi‐level differential coupling and backstepping super‐twisting algorithm is proposed to compensate for the synchronization error of the dual‐motor system caused by parameter uncertainty. Finally, the simulation is carried out using Simulink to verify the effectiveness of the proposed control strategy.

Mode Switching and Consistency Control for Electric-Hydraulic Hybrid Steering System

Mode Switching and Consistency Control for Electric-Hydraulic Hybrid Steering System

EASS: An automatic steering system for agricultural wheeled vehicles using fuzzy control

Automatic steering is a crucial technology for achieving automatic navigation and unmanned driving of agricultural machinery. In this research, agricultural wheeled vehicles with the HPAS (Hydraulic Power Assistant Steering) system were selected as the research object and the EASS (Electric Automatic Steering System) was proposed by using fuzzy control to realize effective steering instead of human drivers. The PID (Proportional Integral Differential) algorithm was used to process the difference between the desired and actual steering angles and to realize automatic control of rotation of directional wheels. Fuzzy control was adopted to achieve self-adjusting of PID parameters and to optimize working state of the steering motor in real-time for different agricultural wheeled vehicles under various operating conditions. Fuzzy control rules were explored and formulated by analyzing variation of the steering angle under different resistive torque values. For evaluation of its feasibility, the newly developed EASS was applied in automatic navigation of a rice transplanter, a tractor, and a high-clearance sprayer. Field testing results showed that the maximum path tracking lateral error and heading error were 4.39 cm and 2.13°, respectively. And the maximum RMS (Root Mean Square) errors were 3.75 cm and 1.02°, respectively. Therefore, the fuzzy control-based the EASS in this research was applicable to various agricultural wheeled vehicles.

Electric power steering system controller design using induction machine

Electric power steering system controller design using induction machine

PERFORMANCE OF SHIP NAVIGATION WAVE FILTERS WITH LOW ENCOUNTER FREQUENCY IN FOLLOWING SEAS

The effect of waves in the ship's autopilot is commonly considered as a part of the control system using a wave filter. The task of the wave filter is to remove the wave-induced motions from the measurements before they are used in the feedback control system. By not counteracting the wave-frequency motions when controlling course and speed, the autopilot avoids unnecessary wear and tear on the steering system. However, in following seas (with the wave direction being approximately in the same direction as the ship's course) the wave-frequency dynamics can be within the desired bandwidth of the course controller, since the wave encounter frequency can be very low. This paper compares the performance of different wave filters in following to quartering sea conditions, when considering different models, measurements and filtering techniques.

Contribution to the development of a method for optimal dimensioning of the steering arm in the conceptual design phase of a heavy motor vehicle

The conceptual design represents the concretization of project requirements defined based on market data. This paper will focus on the steering system, specifically the steering arm. The parameters of the steering arm are not known in the initial design phase of a heavy motor vehicle, so an attempt is made here to define the necessary dimensions based on the minimization of its lateral vibrations, while simultaneously minimizing the mass and maximizing the critical buck-ling force. For this purpose, a simplified geometric, physical, and mathematical model of the steering arm, as well as the stochastic parameter optimization method and 2D Fourier transform, were used.

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

A Differential Brake-Actuated Steering System for Redundancy of Steer-by-Wire

A Differential Brake-Actuated Steering System for Redundancy of Steer-by-Wire