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首页> 外文会议>DSC-vol.73-1; American Society of Mechanical Engineers(ASME) International Mechanical Engineering Congress and Exposition pt.A; 20041113-19; Anaheim,CA(US) >Modeling, Analysis, and Control of a Four Wheel Steer-by-Wire System for Semi-Autonomous Ground Vehicles
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Modeling, Analysis, and Control of a Four Wheel Steer-by-Wire System for Semi-Autonomous Ground Vehicles

机译：半自动地面车辆的四轮线控转向系统的建模，分析和控制

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摘要

Hybrid ground vehicles have motivated electric and steer-by-wire steering system technology due to restrictions on power source availability. Although these two steering systems are efficient, flexible, and environment friendly, the steer-by-wire system provides the opportunity for semi-autonomous and autonomous vehicle operation, as well as compliments a drive-by-wire architecture. For greater lateral vehicle performance, reduced maneuver transient time, and avoidance of undesirable vehicle motions through combined traction and steering control, a four wheel steering assembly with front and rear steering mechanism can uniformly control the wheels' steering angle. In this paper, mathematical models will be developed for a front and rear rack and pinion steer-by-wire system. Accompanying linea'r and nonlinear controllers will be designed for operator commanded tracking by adjusting the three servo-motor assemblies. Representative numerical results are presented and discussed to support the evaluation of the four-wheel steering systems for sinusoidal and impulse-like steering maneuvers. The simulated vehicle four wheel steer-by-wire system results demonstrated better performance compared to the front steer-by-wire system.
机译：由于动力源的限制，混合动力地面车辆采用了电动和线控转向系统技术。尽管这两个转向系统高效，灵活且环境友好，但线控转向系统为半自动和自动车辆操作提供了机会，并补充了线控驱动架构。为了获得更好的侧向车辆性能，减少机动过渡时间并通过组合的牵引力和转向控制来避免不良的车辆运动，具有前后转向机构的四轮转向总成可以均匀地控制车轮的转向角。在本文中，将为前齿条和小齿轮线控转向系统开发数学模型。通过调整三个伺服电机组件，将为线性和非线性控制器设计用于操作员命令的跟踪。提出并讨论了代表性的数值结果，以支持对正弦和脉冲状转向操纵的四轮转向系统进行评估。与前线控转向系统相比，模拟车辆的四轮线控转向系统结果显示出更好的性能。

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