ADAPTIVE-CONTROL OF 4WS SYSTEM BY USING NEURAL-NETWORK

被引：11

作者：

SHIOTSUKA, T

NAGAMATSU, A

YOSHIDA, K

机构：

[1] Department of Mechanical Engineering, Tokyo Institute of Technology, Meg-, uro-ku, Tokyo, 152, 2-12-1, O-okayama

[2] Department of Mechanical Engineering, Keio University, Kohoku-ku, Yokohama-shi, Kanagawa, 223, 3-14-1, Hiyoshi

来源：

VEHICLE SYSTEM DYNAMICS | 1993年 / 22卷 / 5-6期

关键词：

Steering - Vehicle wheels - Adaptive control systems - Computer simulation - Friction;

D O I：

10.1080/00423119308969040

中图分类号：

TH [机械、仪表工业];

学科分类号：

0802 ;

摘要：

An adaptive control system of the model following type is proposed for drive motion control of a four wheel steering (4WS) car with using neural network (NN) which has mastered nonlinear friction force between tire and road surface. A model of one rigid body is adopted which represents appropriately two kinds of car motion caused by steering action, namely the lateral displacement and the yawing rotation, and an equation of motion is described in a simplified form to make a system equation for motion control possible. Nonlinear relation between the cornering force of tire and the slip angle is obtained by numerical analysis with the tire model proposed by E. Fiala, taking friction coefficient and car speed as the parameters. The result is used as the teaching signal for NN. Three NN are used in the control system composed of both the feed-forward and the feedback circuits in order to realize adaptive control. Validity and usefulness of the proposed adaptive control system with NN are verified by three kinds of computer simulation.

引用

页码：411 / 424

页数：14

共 20 条

[1]

Whitehead J.C., Four Wheel Steering: Maneuverability and High Speed Stabilization, SAE Paper, (1988)

[2]

Vanderploeg M.J., Et al., Evaluation of Four-Wheel Steer Path Following Performance Using a Linear Inverse Vehicle Model, SAE Paper, (1988)

[3]

Bernard J.E., Et al., Linear Analysis of a Vehicle with Four-Wheel Steering, SAE Paper, (1988)

[4]

Nalecz A.G., Et al., Investigation into the Stability of Four Wheel Steering Vehicles Internation, al Journal of Vehicle Design, 9, 2, (1988)

[5]

Nalecz A.G., Et al., Analysis of the Dynamic Response of Four Wheel Steering Vehicles at High Speed, International Journal of Vehicle Design, 9, 2, (1988)

[6]

Sano S., Et al., Four Wheel Steering System with Rear Wheel Steer Angle Controlled as a Function of Steering Wheel Angle, SAE Paper, (1986)

[7]

Senger K.H., A Velocity Dependent Steering Gear Ratio for Four-Wheel Steered Vehicle, I mech E, C438/88, (1988)

[8]

Takiguchi T., Et al., Improvement of Vehicle Dynamics by Vehicle-Speed-Sensing Four-Wheel Steering System, SAE Paper, (1986)

[9]

Nagai M., Et al., Study on 4WS Systems by Vertical Car Model-Following Control, JSAE, 39, pp. 69-75, (1988)

[10]

Fujisiro T., Et al., Four-wheel Steering System Employing Model-following Control JSAE, 42-43, pp. 304-310, (1988)

← 1 2 →