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Research Papers

A Study on μ-Synthesis Control for Four-Wheel Steering System to Enhance Vehicle Lateral Stability

[+] Author and Article Information
Guo-Dong Yin1

School of Mechanical Engineering, Southeast University, Nanjing 210096, P.R. Chinaygdl@seu.edu.cn

Nan Chen

School of Mechanical Engineering, Southeast University, Nanjing 210096, P.R. Chinanchen@seu.edu.cn

Jin-Xiang Wang

School of Mechanical Engineering, Southeast University, Nanjing 210096, P.R. Chinawangjx@seu.edu.cn

Ling-Yao Wu

School of Automation, Southeast University, Nanjing 210096, P.R. Chinalywu@seu.edu.cn

1

Corresponding author.

J. Dyn. Sys., Meas., Control 133(1), 011002 (Nov 23, 2010) (6 pages) doi:10.1115/1.4002707 History: Received May 13, 2008; Revised June 13, 2010; Published November 23, 2010; Online November 23, 2010

This paper presents the design of μ-synthesis control for four-wheel steering (4WS) vehicle and an experimental study using a hardware-in-the-loop (Hil) setup. First, the robust controller is designed and the selection of weighting functions is discussed in the framework of μ-synthesis control scheme, considering the varying parameters induced by running vehicle condition. Second, in order to investigate the feasibility of the four-wheel steering control system, the 4WS vehicle control system is built using dSPACE DS1005 platform. The experimental tests are performed using the Hil setup which has been constructed using the devised rear steering actuating system. The dynamics performance is evaluated by experiment using the Hil setup under the condition of parameter variations. Finally, experimental results show that the μ-synthesis controller can enhance good vehicle lateral maneuverability.

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Copyright © 2011 by American Society of Mechanical Engineers
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Figures

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Figure 1

A half vehicle dynamic model

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Figure 2

The 4WS closed-loop interconnection structure

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Figure 3

The P−K structure with uncertainty

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Figure 4

(a) Yaw rate response for robust and optimal control laws. (b) Sideslip angle response for robust and optimal control laws.

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Figure 5

4WS vehicle HILS platform

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Figure 6

Four-wheel steering ECU development platform

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Figure 7

dSPACE and control platform

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Figure 8

The front wheel steering angle under lane change maneuver

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Figure 9

Yaw rate response

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Figure 10

Sideslip angle response

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