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Research Papers

On Steering Control of Commercial Three-Axle Vehicle

[+] Author and Article Information
Qiuzhen Qu

Department of Mechanical and Industrial Engineering, University of Toronto, 5 King’s College Road, Toronto, M5S 3G8, Canadaqqz@mie.utoronto.ca

Jean W. Zu

Department of Mechanical and Industrial Engineering, University of Toronto, 5 King’s College Road, Toronto, M5S 3G8, Canadazu@mie.utoronto.ca

J. Dyn. Sys., Meas., Control 130(2), 021010 (Feb 29, 2008) (11 pages) doi:10.1115/1.2837438 History: Received September 18, 2005; Revised August 06, 2007; Published February 29, 2008

The steering control laws of commercial three-axle vehicle are studied based on the closed-loop control model of the driver-vehicle-road. The steering characteristics of the three-axle vehicle can be improved through adding the steering of rear wheels. For a series of combined roads defined as standard roads where the vehicle is tested, a new proposal to optimize the design parameters of the steering system is presented. The cornering stiffness of front, middle and rear wheels and outer disturbance are considered as uncertain parameters varying over a limited range. A new controller of model-following variable structure is constructed and used for controlling front and rear wheels steering of the actual vehicle, so that the steering characteristics of the uncertain vehicle model and nonlinear vehicle model can follow the characteristics of the reference model (nominal model), namely, the vehicle can keep the same steering characteristics as the nominal model on the different roads. Simulation results have demonstrated that the proposed method is reasonable and practicable.

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Copyright © 2008 by American Society of Mechanical Engineers
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Figures

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Figure 1

Optimal scheme of design parameters

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Figure 2

Outline of the control system

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Figure 3

Steering model of with two degrees of freedom

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Figure 4

Driver-vehicle-road system

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Figure 5

Control principle diagram

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Figure 6

Complex typical path input

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Figure 7

Inputs and responses of nominal model

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Figure 8

Inputs, control, and responses of uncertain model

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Figure 9

Responses of nominal model and nonlinear model without rear wheels steering

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Figure 10

Responses of nominal model and nonlinear model with rear wheels steering of state feedback

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Figure 11

Responses of nominal model and nonlinear model with state feedback and variable structure control

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Figure 12

Responses of nominal model and nonlinear model without rear wheels steering

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Figure 13

Responses of nominal model and nonlinear model with rear wheels steering of state feedback

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Figure 14

Responses of nominal model and nonlinear model with state feedback and variable structure control

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