DocumentCode :
550445
Title :
Asymptotic decoupling control with active front steering and electronic differentials in four wheel steering vehicles
Author :
Chen Changfang ; Jia Yingmin ; Gao Qinghui ; Yu Fashan
Author_Institution :
Seventh Res. Div., Beihang Univ. (BUAA), Beijing, China
fYear :
2011
fDate :
22-24 July 2011
Firstpage :
111
Lastpage :
116
Abstract :
In this paper the integrated control of electronic differentials with active front steering is investigated in order to improve vehicle steering dynamics. An asymptotic decoupling feedback control law is presented based on a second order vehicle model which is obtained from a seventh order nonlinear model by linearization and singular perturbation. It is shown that the lateral speed dynamics and the yaw rate dynamics can be decoupled in a steady state only by feeding back of the yaw rate, and lateral velocity measurement is not required. The eigenvalues of the controlled systems can be arbitrarily placed at the given speed domain. Furthermore, to improve the transient responses, the H norm is performed with respect to the desired eigenvalues. Simulations show that the proposed controller can improve the vehicle steering dynamics since the corresponding eigenvalues can be placed to be all real at given speed domain to prevent oscillations.
Keywords :
eigenvalues and eigenfunctions; feedback; linearisation techniques; nonlinear control systems; road vehicles; steering systems; H norm; active front steering; asymptotic decoupling control; asymptotic decoupling feedback control law; eigenvalues; electronic differentials; four wheel steering vehicles; integrated control; lateral speed dynamics; linearization; second order vehicle model; seventh order nonlinear model; singular perturbation; vehicle steering dynamics; yaw rate dynamics; Control systems; Eigenvalues and eigenfunctions; Steady-state; Transient analysis; Vehicle dynamics; Vehicles; Wheels; Asymptotic decoupling; Electronic differentials; H optimized decoupling; Singular perturbation;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control Conference (CCC), 2011 30th Chinese
Conference_Location :
Yantai
ISSN :
1934-1768
Print_ISBN :
978-1-4577-0677-6
Electronic_ISBN :
1934-1768
Type :
conf
Filename :
6000783
Link To Document :
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