Research Papers

Energy Optimal Control Design for Steer-by-Wire Systems and Hardware-in-the-Loop Simulation Evaluation

[+] Author and Article Information
M. Selçuk Arslan

Department of Mechatronics Engineering,
Yildiz Technical University,
Barbaros Boulevard, Besiktas,
Istanbul 34349, Turkey
e-mail: msarslan@yildiz.edu.tr

Naoto Fukushima

Fukushima Research Institute, Ltd.,
Tokyo 104-0032, Japan

1Corresponding author.

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received January 24, 2014; final manuscript received January 21, 2015; published online March 19, 2015. Assoc. Editor: Junmin Wang.

J. Dyn. Sys., Meas., Control 137(7), 071005 (Jul 01, 2015) (9 pages) Paper No: DS-14-1030; doi: 10.1115/1.4029719 History: Received January 24, 2014; Revised January 21, 2015; Online March 19, 2015

A Steer-By-Wire (SBW) control scheme is proposed for enhancing the lateral stability and handling capability of a super lightweight vehicle by using the energy optimal control method. Tire dissipation power and virtual power, which is the product of yaw moment and the deviation of actual yaw rate from the target yaw rate, were selected as performance measures to be minimized. The SBW control scheme was tested using Hardware-In-the-Loop (HIL) simulation on an SBW test rig. The case studies performed were high-speed rapid lane change, crosswind, and braking-in-a-turn. HIL simulation results showed that the SBW control scheme was able to maintain vehicle stability. The proposed SBW control design taking advantage of the full range steering of front wheel, significantly improves the vehicle handling capability. The results also demonstrate the importance of SBW control for super lightweight vehicles.

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Fig. 1

Kinematic model of an automobile

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Fig. 4

Lateral displacements

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Fig. 5

Lateral velocities

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Fig. 7

Front wheel steering angles

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Fig. 10

Braking forces and steering input

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Fig. 9

Front wheel steering angles

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Fig. 11

Lateral accelerations

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Fig. 13

Lateral velocities

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Fig. 14

Vehicle motion radius versus lateral acceleration

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Fig. 15

Lateral acceleration response of the vehicle

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Fig. 16

Yaw rate response of the vehicle

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Fig. 17

Roll rate response of the vehicle




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