Yaw stability control of a steer-by-wire equipped vehicle via active front wheel steering

被引：91

作者：

Zheng, B. ^{[1
]}

Anwar, S. ^{[1
]}

机构：

[1] IUPUI, Purdue Sch Engn & Technol, Dept Mech Engn, Indianapolis, IN 46202 USA

来源：

MECHATRONICS | 2009年 / 19卷 / 06期

关键词：

Vehicle dynamics; Active steering control; Steer by wire; Robust control; INTEGRATED CONTROL; DYNAMICS; SYSTEM;

D O I：

10.1016/j.mechatronics.2009.04.005

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A novel yaw stability control algorithm with active front wheel steering control of a vehicle equipped with a steer-by-wire system is presented in this paper. The proposed algorithm achieves the decoupling of the lateral and yaw motion of a vehicle and the vehicle's yaw damping simultaneously by the feedback of both yaw rate and front steering angle. A trade-off is then made between the robust decoupling and yaw rate damping through the adjustment of the feedback gains with respect to vehicle speed. With this trade-off, the gain scheduled steering controller provides the desired yaw rate damping while keeping the yaw-lateral motion decoupled. The robustness of the yaw-lateral decoupling is achievable when arbitrary yaw damping is not required. The proposed control system is implemented on a steer-by-wire vehicle, and the experimental results are presented illustrating the benefits. (C) 2009 Elsevier Ltd. All rights reserved.

引用

页码：799 / 804

页数：6

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