Thematische Bibliographien / Control of steering systems

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Auswahl der wissenschaftlichen Literatur zum Thema „Control of steering systems“

Autor: Grafiati

Veröffentlicht am 25. Mai 2024

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Zeitschriftenartikel zum Thema "Control of steering systems"

Na, Shaodan, Zhipeng Li, Feng Qiu und Chao Zhang. „Torque Control of Electric Power Steering Systems Based on Improved Active Disturbance Rejection Control“. Mathematical Problems in Engineering 2020 (29.04.2020): 1–13. http://dx.doi.org/10.1155/2020/6509607.

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In the electric power steering (EPS) system, low-frequency disturbances such as road resistance, irregular mechanical friction, and changing motor parameters can cause steering wheel torque fluctuation and discontinuity. In order to improve the steering wheel torque smoothness, an improved torque control method of an EPS motor is proposed in the paper. A target torque algorithm is established, which is related to steering process parameters such as steering wheel angle and angular speed. Then, a target torque closed-loop control strategy based on the improved ADRC is designed to estimate and compensate the internal and external disturbance of the system, so as to reduce the impact of the disturbance on the steering torque. The simulation results show that the responsiveness and anti-interference ability of the improved ADRC is better than that of the conventional ADRC and PI. The vehicle experiment shows that the proposed control method has good motor current stability, steering torque smoothness, and flexibility when there is low-frequency disturbance.

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Ranade, Eeshan. „Electronic Control System for Steer by Wire“. International Journal for Research in Applied Science and Engineering Technology 9, Nr. VI (30.06.2021): 4161–66. http://dx.doi.org/10.22214/ijraset.2021.35968.

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Automobile industry’s focus is on efficiency, safety and performance has resulted in the rapid introduction of electronics in vehicle safety systems and engine management. Mechanical and Hydraulic systems are now gradually being replaced by electronic controllers to achieve the objectives of optimizing power consumption, improving driver convenience, and maximizing driver safety resulting in an overall improved performance and experience. Vehicle steering systems have transitioned from mechanical to hydraulic power to an electric power assisted steering system and now to the state of the art, Steer by Wire (SbW) system. Traditional mechanical systems included a steering wheel, column, gear, rack and pinion and did not support any power steering. The next generation hydraulic systems were more stable, safer and required comparatively lesser effort. Electric or DC motors drove the Electric Power System addressing the drawbacks of the hydraulic systems especially those related to environment and acoustics with the added advantage of a compact structure and power-on-demand engine performance. By-wire steering technologies was originally introduced in the Concord aircraft in 1970s. The SbW is a steering system with no steering column. The mechanical interface between the steering wheel and the wheels is replaced with by-wire electrical connection/electronic actuators. SbW system has significant advantages in terms of driving safety due to the availability of the steering command in electronic form and the removal of the steering shaft, cruising comfort with driving manoeuvring due to no space constraint and favourable to the environment with the non-usage of hydraulic oils.

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Tuhkanen, Samuel, Jami Pekkanen, Callum Mole, Richard M. Wilkie und Otto Lappi. „Can gaze control steering?“ Journal of Vision 23, Nr. 7 (21.07.2023): 12. http://dx.doi.org/10.1167/jov.23.7.12.

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Zheng, J. Y., und R. E. Reid. „Design Analysis of Ship Steering Gear Control Systems“. Journal of Offshore Mechanics and Arctic Engineering 110, Nr. 3 (01.08.1988): 218–25. http://dx.doi.org/10.1115/1.3257054.

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The paper presents design analyses of ship steering gear control systems. Emphasis is placed on compressibility, leakage, friction, hydrodynamic damping, limiter and relay aspects of systems design. Computer simulation results are presented to assess the effect of design parameters on system performance for two different steering system/ship configurations. A design example is presented to show the main steps for designing a steering gear control system using single-loop bang-bang control with a variable capacity pump. The performance of the system is shown to be good.

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Li, Guo, Wen Zheng Zhang und Yan Jie Hou. „The Application of Multi-Model Control on Vehicle Chassis Coordination Control“. Applied Mechanics and Materials 387 (August 2013): 292–95. http://dx.doi.org/10.4028/www.scientific.net/amm.387.292.

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In this paper, we did research on the control theory of vehicle`s steering and braking systems. We used T-S fuzzy method to design the nonlinear model which is based on the vehicle`s steering and braking models. Then a cooperative controller was designed to coordinate the steering system and the braking system. On this way can effectively enhance the vehicle`s braking performance and steering stability. Finally, the results of simulation prove that the designed system has a satisfying tracking performance and strong system robust in diversified driving conditions.

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Lee, Jaepoong, Kyongsu Yi, Dongpil Lee, Bongchoon Jang, Minjun Kim und Sangwoo Hwang. „Haptic control of steer-by-wire systems for tracking of target steering feedback torque“. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 234, Nr. 5 (11.10.2019): 1389–401. http://dx.doi.org/10.1177/0954407019879298.

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This study proposes a haptic control of steer-by-wire systems for tracking a target steering feedback torque to achieve the conventional steering feedback torque. The haptic feedback control with a steer-by-wire steering-wheel system model was used to provide drivers with a conventional steering feedback torque. The steer-by-wire steering-wheel system model was developed, and a haptic control algorithm was designed for a desired steering feedback torque with a three-dimensional target steering torque map. In order to track the target steering torque to let the drivers feel the conventional steering efforts, an adaptive sliding-mode control was used to ensure robustness against parameter uncertainty. The angular velocity and angular acceleration used in the control algorithm were estimated using an infinite impulse response filter. The performance of the proposed controller was evaluated by computer simulation and hardware-in-the-loop simulation tests under various steering conditions. The proposed haptic controller successfully tracked the steering feedback torque for steer-by-wire systems.

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Wang, Zhaojian, und Hamid Reza Karimi. „Experimental Study on Antivibration Control of Electrical Power Steering Systems“. Journal of Applied Mathematics 2014 (2014): 1–7. http://dx.doi.org/10.1155/2014/450427.

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We focus on the antivibration controller design problem for electrical power steering (EPS) systems. The EPS system has significant advantages over the traditional hydraulic steering system. However, the improper motor controller design would lead to the steering wheel vibration. Therefore, it is necessary to investigate the antivibration control strategy. For the implementation study, we also present the motor driver design and the software design which is used to monitor the sensors and the control signal. Based on the investigation on the regular assistant algorithm, we summarize the difficulties and problems encountered by the regular algorithm. After that, in order to improve the performance of antivibration and the human-like steering feeling, we propose a new assistant strategy for the EPS. The experiment results of the bench test illustrate the effectiveness and flexibility of the proposed control strategy. Compared with the regular controller, the proposed antivibration control reduces the vibration of the steering wheel a lot.

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Li, Guo, und Yan Sun. „The Fuzzy Decoupling Control of the Electric Vehicle Steering and Speed Systems“. Applied Mechanics and Materials 387 (August 2013): 284–87. http://dx.doi.org/10.4028/www.scientific.net/amm.387.284.

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Based on the electric vehicle steering and speed models, this paper discussed the control problems of the electric vehicle steering and speed systems. Firstly, the electric vehicle speed control system is designed using the fuzzy PID controller. Then the electric vehicle steering controller is a fuzzy controller. Due to the coupled effect of speed in the steering control system, designing a fuzzy decoupling controller, reducing the coupled effect of speed, in order to control the system of steering model and speed model independently, and to achieve the purpose of decoupling. Finally, the result of simulation proves that no matter how speed changes, steering control system still has good tracking performance with decoupling controller. The systemic robustness is much stronger and it also enhances the utility of the control system.

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Reid, R. E., und J. Y. Zheng. „Time Domain Simulation of Ship Steering Gear Control Systems“. Journal of Energy Resources Technology 108, Nr. 1 (01.03.1986): 84–90. http://dx.doi.org/10.1115/1.3231246.

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Considering the effects of oil compressibility, leakage, hydrodynamic damping and friction, in addition to other nonlinearities, such as bang-bang relay, pump saturation and limiters of oil pressure and pump flow, the performance of five different types of ship steering gear control systems are examined using digital computer simulation techniques. Three of the controllers examined are “bang-bang” controllers, while the remaining two are “analog”. The behavior and performance of the various systems on three ship configurations are compared. It is shown that the analog steering gear controllers can be expected to demonstrate superior performance of the ship/steering system in calm water operations.

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Sharp, R. S. „Motorcycle Steering Control by Road Preview“. Journal of Dynamic Systems, Measurement, and Control 129, Nr. 4 (14.12.2006): 373–81. http://dx.doi.org/10.1115/1.2745842.

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The main objectives of the work described are to devise an effective path-based motorcycle simulation capability and to add to understanding of how riders control motorcycles. Optimal linear preview control theory was previously applied to the tracking of a roadway by a car, using a simple car model operating in fixed control. Similar theory is applied to path control of motorcycles. The simple car previously employed is replaced by a much more elaborate motorcycle. The steering angle control used previously is changed into steering torque control. Rider upper body lean torque is also allowed as a control input. The machine speed is considered constant but is a parameter of the motion. The objective of the optimal control is to minimize a weighted sum of tracking errors, rider lean angle and control power. The time-invariant optimal control corresponding to a white noise disturbance and to an infinite optimization horizon is found for many situations, involving variations in machine speed and performance priorities. Tight controls, corresponding to high weightings on performance, and loose controls, corresponding to high weightings on control power, are identified. Results show the expected pattern for preview control, that information well into the future is of limited value in determining the present control inputs. Full system performance is achievable with only finite preview. The extent of the preview necessary for full performance is determined as a function of machine speed and performance priorities. This necessary preview is found to be in accord with conventional wisdom of motorcycle riding and rider training. Optimal path tracking preview controls are shown to represent the inverse dynamics of the motorcycle. New light is shed on the relative effectiveness of steering torque and body lean torque controls. Simulations of an optimally controlled motorcycle and rider combination are conducted. A typical lane change path and an S-shaped path from the literature are used. For a chosen speed, optimal controls are installed on the machine for which they were derived and simulation results showing tracking performance, control inputs, and other responses are included. Transformation of the problem from a global description, in which the optimal control is found, to a local description corresponding to the rider’s view, is described. It is concluded that a motorcycle rider model representing a useful combination of steering control capability and computational economy has been established. The model yields new insights into rider and motorcycle behavior.

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Dissertationen zum Thema "Control of steering systems"

Dell’Amico, Alessandro. „Pressure Control in Hydraulic Power Steering Systems“. Licentiate thesis, Linköpings universitet, Fluida och mekatroniska system, 2013. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-100841.

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There is a clear trend in the vehicle industry to implement more safetyrelated functions, where the focus is on active safety systems and today the steering system is also involved. Steering-related active safety functions can only be realised with a steering system that allows electroniccontrol of either the road wheel angle or the torque required to steer the vehicle, called active steering. The high power requirement of heavy vehicles means they must rely on hydraulic power to assist the driver. Thesystem is a pure hydro-mechanical system with an open-centre circuit activated by the driver’s steering action and suffers from poor energy efficiency. The main task of the hydraulic system is to control the pressure in the assistance cylinder in such a way that it eases the load on the driver. This work suggests a way to design and evaluate a self-regulating pressure control valve for use as actuator in the steering system. This valve can be made small and fast and is electronically controlled to enable active steering. It is based on a closed-centre circuit and has therefore the potential to improve energy efficiency. The aim of this work has been to investigate the possibility for the valve to perform as the original open-centre valve. The suggested approach is a model-based design and evaluation process where an optimisation routine is used to design the valve. Together with a validated model of the steering system, the new concept is compared with the original system. A hardware-inthe-loop simulation test rig has also been designed and built with the possibility to test a closed-centre steering system. It has partly been used to support the modelling process and partly to verify that a closedcentre steering system is a feasible solution. The simulation results have shown that the designed valve can perform sufficiently well compared to the original system.

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Yamamoto, Kazusa. „Control of electromechanical systems, application on electric power steering systems“. Thesis, Université Grenoble Alpes (ComUE), 2017. http://www.theses.fr/2017GREAT069/document.

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De nos jours, la plupart des véhicules sont équipés de Directions Assistées Electriques (DAE). Ce type de systèmes d'aide à la conduite permet de réduire les efforts que le conducteur doit fournir pour tourner les roues. Ainsi, grâce à un moteur électrique, la DAE applique un couple additionnel en accord avec le comportement du conducteur et la dynamique du véhicule. Il est donc nécessaire de développer une commande en couple basée en particulier sur le signal provenant d'un capteur mesurant le couple agissant au niveau de la barre de torsion (correspondant à une image du couple conducteur). Ce composant est donc essentiel au fonctionnement de la DAE. Or, une défaillance de ce capteur entraine le plus souvent une coupure de l'assistance, pouvant mener à un risque d'accidents. Au regard de la sécurité fonctionnelle, un développement d'un mode de sécurité est recommandé, par de plus en plus de constructeurs automobiles. D'autre part, le marché des équipementiers automobiles reste un secteur très concurrentiel où une baisse des coûts de production est un challenge constamment recherché afin de gagner de nouvelles parts de marchés. Cet aspect de réduction du nombre de capteurs et d'analyse de la dynamique du véhicule s'inscrit donc dans le prolongement de la stratégie de sécurité. Cette thèse, menée au sein de JTEKT Europe, aborde ces divers enjeux. Après une présentation des différents systèmes de directions assistés électriques, des modèles sont présentés pour être utilisés lors de la conception de lois de commande et d'estimateurs. Ensuite deux méthodes d'estimation du couple conducteur sujet aux perturbations de la route et aux bruits de mesures sont proposées : la première est un observateur proportionnel intégral (PI) à synthèse mixte $H_infty/H_2$, et la seconde une approche par filtrage $H_infty$. Puis plusieurs stratégies de commande sont proposées suivant deux cas de figures distincts, soit en utilisant un observateur PI qui estime les états du système et le couple conducteur (LQR, commande LPV par retour d'état), soit en faisant abstraction d'estimateur de couple conducteur (commande $H_infty$ par retour de sortie dynamique). Ce dernier aspect présente l'avantage de nécessiter moins de mesures que le précédent. Ces approches ont été validées en simulation et mises en œuvre sur un véhicule prototype où des résultats prometteurs ont été obtenus
Nowadays, modern vehicles are equipped with more and more driving assistance systems, among them Electric Power Steering (EPS) helps the driver to turn the wheels. Indeed, EPS provides through an electric motor, an additional torque according to the driver's behaviour and the vehicle's dynamics to reduce the amount of effort required to the driver. Therefore, a torque control is developed based on the torque sensor signal which measures in practice the torsion bar torque (corresponding to an image of the driver torque). Consequently, this component is essential to the functioning of EPS systems.Indeed, a torque sensor failure usually leads to shut-off the assistance which may increase the risk of accident. Regarding functional safety, a back-up mode is recommended and required by more and more car manufacturers. On the other hand, a major challenge for automotive suppliers is to reduce cost production in order to meet growing markets demands and manage in the competitive sector. This issue considering a reduction of sensors' numbers and analysis of vehicle's dynamics is therefore an extension of applying the safety strategy. This thesis, carried out within JTEKT Europe, addresses these various issues.After introducing an overview of the different EPS systems, some models used for the design of controllers and estimators are presented. Then, two methods to estimate the driver torque subject to road disturbances and noise measurements are proposed: the first is a proportional integral observer (PI) with mixed synthesis $H_infty / H_2 $, whereas the second is an $ H_infty $ filtering approach. Then, several control strategies are proposed according to two different cases, either by using a PI observer which estimates the system states and the driver torque (LQR, LPV feedback control) or by not taking into account the driver torque estimation ($ H_infty $dynamic output feedback control). This latter approach has the advantage to require less measurements than the previous one. These approaches have been validated in simulation and implemented on a prototype vehicle where promising results have been obtained

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Asghar, Sajjad. „Exact steering in control of moment gyroscope systems“. Thesis, University of Surrey, 2008. http://epubs.surrey.ac.uk/770151/.

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Single Gimbal Control Moment Gyroscopes (CMGs) are thought to be efficient actuators for the attitude control of the new generation of small and agile satellites. CMGs belong to a class of actuators known as momentum exchange devices. This thesis presents a detailed formulation of three-axis attitude dynamics and control of a satellite equipped with a cluster of n momentum exchange devices (which include CMGs and reaction wheels).

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Yavuzoglu, Emre. „Steering Laws For Control Moment Gyroscope Systems Used In Spacecraft Attitude Control“. Master's thesis, METU, 2003. http://etd.lib.metu.edu.tr/upload/1098441/index.pdf.

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In this thesis, the kinematic properties of Single Gimballed Control Moment Gyroscopes (SGCMGs) are investigated. Singularity phenomenon inherent to them is explained. Furthermore, existing steering laws with their derivations are given. A novel steering law is developed that may provide singularity avoidance or may be used for quick transition through a singularity with small torque errors. To avoid singularity angular momentum trajectory of the maneuver is to be simulated in advance for the calculation of singularity free gimbal histories. The steering law, besides accurately generating required torques, also pushes the system to follow trajectories closely if there is a small difference between the planned and the realized momentum histories. Thus, it may be used in a feedback system. Also presented are number of approaches for singularity avoidance or quick transition through a singularity. The application of these ideas to the feedback controlled spacecraft is also presented. Existing steering laws and the proposed method are compared through computer simulations. It is shown that the proposed steering law is very effective in singularity avoidance and quick transition through singularities. Furthermore, the approach is demonstrated to be repeatable even singularity is encountered.

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Ouyang, Xiaohong. „Neural network identification and control of electrical power steering systems“. Thesis, University of Wolverhampton, 2000. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.323099.

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Bedrossian, Nazareth Sarkis. „Steering law design for redundant single gimbal Control Movement Gyro systems“. Thesis, Massachusetts Institute of Technology, 1987. http://hdl.handle.net/1721.1/14663.

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Diab, Ali. „Stability analysis and control design for time-delay systems with applications to automotive steering systems“. Electronic Thesis or Diss., université Paris-Saclay, 2023. http://www.theses.fr/2023UPAST057.

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L'assistance de direction aide le conducteur à manoeuvrer son véhicule en diminuant le couple exercé sur le volant. Dans le cas de la « direction assistée électrique » et du « steer-by-wire », le système d'assistance est composé de moteurs électriques placés au niveau de la crémaillère (pour déplacer les roues) et au niveau du volant (pour fournir au conducteur un retour des forces agissant sur les roues). Cependant, ces architectures introduisent des retards dans les boucles de rétroaction du système. Pour assurer la stabilité en présence de retards, on peut réduire le gain d'assistance ou augmenter l'amortissement du volant, mais cela a un impact négatif sur les performances du système et détériore le retour d'effort renvoyé au conducteur. Afin de surmonter cette limitation, nous concevons et analysons des lois de commande pour les systèmes de direction qui augmentent (par rapport aux stratégies actuelles) la marge de retard du système. Nous utilisons une approche fréquentielle pour analyser les contraintes imposées par la stabilité du système de rétroaction générant le couple volant. Nos algorithmes s'appuient sur des architectures de commande proportionnelles-dérivées classiques, comprenant des lois d'assistance et des filtres. La simplicité des méthodes proposées permet un calcul analytique de la marge de retard. De plus, pour rendre nos résultats plus généraux (par exemple, pour des lois d'assistance non linéaires), nous développons des techniques dans le domaine temporel pour analyser la stabilité des systèmes linéaires à retards en utilisant des fonctionnelles de Lyapunov-Krasovskii. Nous formulons une méthode basée sur des projections permettant à des ensembles généraux de fonctions de paramétrer les fonctionnelles de Lyapunov-Krasovskii. Nous discutons des principales hypothèses considérées dans notre formulation et établissons des connexions entre les approches existantes pour l'analyse de la stabilité des systèmes à retard basées sur la programmation semi-définie, à savoir la méthode basée sur l'utilisation d'inégalités intégrales et la méthode basée sur la programmation par somme de carrés. Enfin, les résultats obtenus sont également appliqués au cas test des systèmes de direction
Steering assistance helps the driver to maneuver the vehicle by reducing the steering effort. In the case of electric power steering and steer-by-wire, the assistance system is composed of electrical drives placed at the rack pinion (allowing the wheels to move) and at the steering wheel (providing the driver a feeling of the forces acting on the wheels). These architectures introduce, however, delays in the feedback loops of the system. To ensure its stability in the presence of delays, one can reduce the assist gain or increase the damping of the steering wheel, but this negatively impacts the system's performance and degrades the force feedback returned to the driver. In order to counter this limitation, we design and analyze control laws for steering systems that increase (compared to current strategies) the delay margin of the system. We use a frequency-domain approach to analyze the constraints imposed by the stability of the feedback system generating the steering wheel torque. Our algorithms rely on classical proportional-derivative control architectures, including torque maps and filters. The simplicity of the proposed methods allows an analytical computation of the delay margin. In addition, to make our results more general (for example, for nonlinear torque maps), we develop time-domain techniques to analyze the stability of linear time-delay systems using Lyapunov-Krasovskii functionals. We formulate a projection-based method allowing general sets of functions to parameterize Lyapunov-Krasovskii functionals. We discuss the main assumptions considered in our formulation and establish connections between the existing approaches for the stability analysis of time-delay systems based on semidefinite programming, namely the method based on the use of integral inequalities and the method based on sum-of-squares programming. Finally, the obtained results are also applied to the test case of steering systems

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Bansal, Mayur. „DIGITAL CONTROL BOARD FOR PHASED ARRAY ANTENNA BEAM STEERING IN ADAPTIVE COMMUNICATION APPLICATIONS“. DigitalCommons@CalPoly, 2013. https://digitalcommons.calpoly.edu/theses/1113.

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The application of adaptive communication techniques for mobile communications has attracted considerable interest in the last decade. One example of these techniques is spatial filtering through planar antenna array beam forming. This thesis describes the development of a digital system that adaptively controls a phased array antenna. The radiating structure of the phased antenna array is tetrahedral-shaped and contains four antenna elements on each of its three faces. The overall system comprises of a digital control board with an external computer interface, an RF control board, and the phased antenna array. The RF controls the main lobe direction on the phased array antenna. This thesis describes the design and implementation of the digital control board. The digital control board`s primary responsibilities are implementing inter- faces between the external computer and the RF board, which results in two operational modes: the MATLAB graphical user interface (GUI) mode and the adaptive receive mode. The GUI mode allows users to input parameters that provide interactive control of the phased antenna array by interfacing with an external computer and the RF control board. The adaptive receive mode im- plements an algorithm for an adaptive receive station. This algorithm uses a 58-point scanning technique that locates the maximum receive power direction. Test results show that the digital control board successfully manages the RF board control voltage with an nominal error of less than 1%, which subsequently allows for precise control of the antenna`s active face. Additionally, testing of the GUI demonstrated the successful interactive application of various system control parameters.

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Avak, Bjoern. „Modeling and Control of a Superimposed Steering System“. Thesis, Georgia Institute of Technology, 2004. http://hdl.handle.net/1853/5039.

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A superimposed steering system is the combination of a conventional steering system with an electric motor which is used to alter the steering angle imposed by the driver. The potential benefits are increased agility, automatic compensation for lateral wind forces and decreased braking distance (in combination with an electronic stability program). In this thesis we implement a model and a controller for a superimposed steering system thus achieving the first of these potential benefits. The vehicle model is based on the single-track or bicycle model. Unlike most other publications, the motor model in this thesis goes down to the level of the electrical dynamics of the motor. The model is divided into three main modules (vehicle module, steering module and friction module) as well as several submodules to ensure easy adaptability. The overall control objective consists of increasing vehicle agility by achieving a variable ratio between the steering wheel angle and the actual road wheel angle as a function vehicle velocity. We divide the controller into a torque and a current controller. The actual controller is derived in three steps starting from an analog torque controller as well as an analog current controller then moving to a digital torque controller. In doing so we use the model matching, feedback linearization and state feedback control techniques. The model and the controller are evaluated using the parameters of a small truck and different road scenarios. Finally, the Validation Square technique is applied to assess the validity of the results.

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Bakolas, Efstathios. „Optimal steering for kinematic vehicles with applications to spatially distributed agents“. Diss., Georgia Institute of Technology, 2011. http://hdl.handle.net/1853/42873.

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The recent technological advances in the field of autonomous vehicles have resulted in a growing impetus for researchers to improve the current framework of mission planning and execution within both the military and civilian contexts. Many recent efforts towards this direction emphasize the importance of replacing the so-called monolithic paradigm, where a mission is planned, monitored, and controlled by a unique global decision maker, with a network centric paradigm, where the same mission related tasks are performed by networks of interacting decision makers (autonomous vehicles). The interest in applications involving teams of autonomous vehicles is expected to significantly grow in the near future as new paradigms for their use are constantly being proposed for a diverse spectrum of real world applications. One promising approach to extend available techniques for addressing problems involving a single autonomous vehicle to those involving teams of autonomous vehicles is to use the concept of Voronoi diagram as a means for reducing the complexity of the multi-vehicle problem. In particular, the Voronoi diagram provides a spatial partition of the environment the team of vehicles operate in, where each element of this partition is associated with a unique vehicle from the team. The partition induces, in turn, a graph abstraction of the operating space that is in a one-to-one correspondence with the network abstraction of the team of autonomous vehicles; a fact that can provide both conceptual and analytical advantages during mission planning and execution. In this dissertation, we propose the use of a new class of Voronoi-like partitioning schemes with respect to state-dependent proximity (pseudo-) metrics rather than the Euclidean distance or other generalized distance functions, which are typically used in the literature. An important nuance here is that, in contrast to the Euclidean distance, state-dependent metrics can succinctly capture system theoretic features of each vehicle from the team (e.g., vehicle kinematics), as well as the environment-vehicle interactions, which are induced, for example, by local winds/currents. We subsequently illustrate how the proposed concept of state-dependent Voronoi-like partition can induce local control schemes for problems involving networks of spatially distributed autonomous vehicles by examining different application scenarios.

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Bücher zum Thema "Control of steering systems"

Antonelli, Gianluca. Underwater robots: Motion and force control of vehicle-manipulator systems. Berlin: Springer, 2003.

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Felix, Geyer R., und Zouwen J. van der, Hrsg. Sociocybernetic paradoxes: Observation, control, and evolution of self-steering systems. London: Sage Publications, 1986.

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Ouyang, Xiaohong. Neural network identification and control of electrical power steering systems. Wolverhampton: University of Wolverhampton, 2000.

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Ship Control Systems Symposium (11th 1997 Southampton, England). Identification and adaptive control applied to ship steering Eleventh Ship Control Systems Symposium. Herausgegeben von Wilson P. A, Great Britain. Ministry of Defence. und University of Southampton. Dept. of Ship Science. Southampton: Computational Mechanics Publications, 1997.

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United States. National Aeronautics and Space Administration., Hrsg. Steering law design for redundant single gimbal control moment gyro systems. Cambridge, Mass: The Charles Stark Draper Laboratory, Inc., 1987.

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Center, Langley Research, Hrsg. An improved lateral control wheel steering law for the Transport Systems Research Vehicle (TSRV). Hampton, Va: National Aeronautics and Space Administration, Langley Research Center, 1992.

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Antonelli, Gianluca. Underwater robots: Motion and force control of vehicle-manipulator systems. Berlin: Springer, 2003.

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Passenger Car Meeting and Exposition (1990 Dearborn, Mich.). Electronic and non-electronic suspension systems and steering controls. Warrendale, PA: Society of Automotive Engineers, 1990.

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Modern diesel technology: Brakes, suspension, and steering. Clifton Park, NY: Thomson Delmar Learning, 2007.

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Cai, Bo. Neural networks, fuzzy logic, and optimal control for vehicle active systems with four-wheel steering and active suspension. Neubiberg: Universitat der Bundeswehr München, 1993.

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Mehr Quellen

Buchteile zum Thema "Control of steering systems"

Isermann, Rolf. „Steering Control Systems“. In Automotive Control, 387–444. Berlin, Heidelberg: Springer Berlin Heidelberg, 2021. http://dx.doi.org/10.1007/978-3-642-39440-9_14.

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Leve, Frederick A., Brian J. Hamilton und Mason A. Peck. „Steering Algorithms“. In Spacecraft Momentum Control Systems, 157–85. Cham: Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-22563-0_7.

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Rovira Más, Francisco, Qin Zhang und Alan C. Hansen. „Electrohydraulic Steering Control“. In Mechatronics and Intelligent Systems for Off-road Vehicles, 209–47. London: Springer London, 2010. http://dx.doi.org/10.1007/978-1-84996-468-5_7.

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Rieger, Wolfgang. „Active steering“. In Brakes, Brake Control and Driver Assistance Systems, 158–61. Wiesbaden: Springer Fachmedien Wiesbaden, 2014. http://dx.doi.org/10.1007/978-3-658-03978-3_13.

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Soitinaho, Riikka, und Timo Oksanen. „Guidance, Auto-Steering Systems and Control“. In Agriculture Automation and Control, 239–66. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-70400-1_10.

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Murray, Richard M., und S. Shankar Sastry. „Steering Nonholonomic Control Systems Using Sinusoids“. In Nonholonomic Motion Planning, 23–51. Boston, MA: Springer US, 1993. http://dx.doi.org/10.1007/978-1-4615-3176-0_2.

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Wu, Xiaodong. „Vehicle Steering System“. In Advanced Chassis Control Technology for Steer-by-Wire Vehicles, 1–18. New York: CRC Press, 2024. http://dx.doi.org/10.1201/9781003481669-1.

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Liu, Yifang, Liang Li und Yuegang Tan. „Steering Nonholonomic Systems with Cosine Switch Control“. In Advances in Intelligent Systems and Computing, 167–76. Berlin, Heidelberg: Springer Berlin Heidelberg, 2014. http://dx.doi.org/10.1007/978-3-642-54927-4_16.

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Ivanov, Mykola, Oksana Motorna, Oleksiy Pereyaslavskyy, Serhiy Shargorodskyi, Konrad Gromaszek, Mukhtar Junisbekov, Aliya Kalizhanova und Saule Smailova. „Method of experimental research of steering control unit of hydrostatic steering control systems and stands for their realization“. In Mechatronic Systems 1, 101–12. London: Routledge, 2021. http://dx.doi.org/10.1201/9781003224136-9.

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El Akchioui, Nabil, Nabil El Fezazi, Youssef El Fezazi, Said Idrissi und Fatima El Haoussi. „Robust Controller Design for Steer-by-Wire Systems in Vehicles“. In Proceeding of 2021 International Conference on Wireless Communications, Networking and Applications, 497–508. Singapore: Springer Nature Singapore, 2022. http://dx.doi.org/10.1007/978-981-19-2456-9_51.

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AbstractThe steer-by-wire (SbW) technology enables to facilitate better steering control as it is based on an electronic control technique. The importance of this technology lies in replacing the traditional mechanical connections with steering auxiliary motors and electronic control and sensing units as these systems are of paramount importance with new electric vehicles. Then, this research paper discusses some difficulties and challenges that exist in this area and overcomes them by presenting some results. These results meet the SbW’s robust performance requirements and compensate oscillations from the moving part of the steering rack in the closed-loop system model: modeling, analysis and design. Thus, the issue of robust control for nonlinear systems with disturbances is addressed here. Finally, the results are validated through detailed simulations.

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Konferenzberichte zum Thema "Control of steering systems"

Balachandran, Avinash, Stephen M. Erlien und J. Christian Gerdes. „The Virtual Wheel Concept for Supportive Steering Feedback During Active Steering Interventions“. In ASME 2014 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/dscc2014-6301.

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Active steering systems allow for improved vehicle safety and stability through steering interventions that augment a driver’s steering command. In a conventional steering system, steering feedback torque depends on the tire forces and corresponding moments that act on the roadwheels. During active steering interventions, there are differences between the driver’s command and the actual roadwheel angle. The steering feedback can now be based on either the moments acting on the actual roadwheels or the moments acting on a virtual wheel following the driver’s intended steering command. With small interventions, the difference between these two approaches is negligible. However, when the intervention is large (e.g. obstacle avoidance maneuvers), basing handwheel moments on the actual roadwheel position results in a handwheel torque that acts in opposition to the intervention. The virtual wheel concept produces a more supportive, and potentially more intuitive, handwheel torque. This reduces the discrepancy between the driver command and the active steering system in simulation and experiments.

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Li, Yijun, Taehyun Shim, Dexin Wang und Timothy Offerle. „Investigation of Factors Affecting Steering Feel of Column Assist Electric Power Steering“. In ASME 2016 Dynamic Systems and Control Conference. American Society of Mechanical Engineers, 2016. http://dx.doi.org/10.1115/dscc2016-9818.

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An application of electric power assist steering (EPAS) system has rapidly grown and overtaken hydraulic power assist steering (HPAS) system in recent automotive industry. The EPAS system has better fuel efficiency and potential application on vehicle dynamic control compared to HPAS. However, it is widely believed that the steering feel of EPAS system is inferior to HPAS system due to its mechanical construction. This paper first presents a comprehensive model of column electric power assist steering (CEPAS) system consisting of steering wheel, worm gear, assist motor, intermediate shaft, and rack and pinion. In this model, the friction in steering system is modeled by LuGre friction model and basic control strategies are also implemented. Using the proposed CEPAS model, the steering feel responses have been investigated with varying system parameters through simulation, and important factors affecting the steering feel response have been identified. This result gives insights on how the steering feel is affected by various factors and can be useful to improve the steering feel control algorithm design.

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Murray, R. M., und S. S. Sastry. „Steering nonholonomic systems using sinusoids“. In 29th IEEE Conference on Decision and Control. IEEE, 1990. http://dx.doi.org/10.1109/cdc.1990.203994.

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„Steering committee“. In 2016 2nd International Conference on Communication, Control & Intelligent Systems (CCIS). IEEE, 2016. http://dx.doi.org/10.1109/ccintels.2016.7878185.

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Chen, J. S. „Control of Electric Power Steering Systems“. In International Congress & Exposition. 400 Commonwealth Drive, Warrendale, PA, United States: SAE International, 1998. http://dx.doi.org/10.4271/981116.

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Lupu, Ciprian, Catalin Petrescu, Gabriel Florea und Mircea Lupu. „Steering control for multiple propulsion systems“. In 2013 17th International Conference on System Theory, Control and Computing (ICSTCC). IEEE, 2013. http://dx.doi.org/10.1109/icstcc.2013.6688979.

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Moerman, R. „Design of Advanced Steering Control Systems“. In NAVTEC 91 - Information Technology and Warships. RINA, 1991. http://dx.doi.org/10.3940/rina.navtec.1991.3.1.

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Qiu, Hongchu, Qin Zhang, John F. Reid und Duqiang Wu. „Nonlinear Feedforward-Plus-PID Control for Electrohydraulic Steering Systems“. In ASME 1999 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 1999. http://dx.doi.org/10.1115/imece1999-0774.

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Abstract This paper presents the development of a nonlinear feedforward-plus-Proportional-Integral-Derivative (FPID) controller for electrohydraulic (E/H) steering on wheel-type tractors. An E/H steering system is a typical nonlinear system with deadband, saturation, asymmetric flow gain, time delay, and other nonlinear behaviors. Conventional PID controllers are incapable of achieving accurate steering control effectively on such nonlinear systems. In this research, an FPID controller was developed for effective and accurate steering control. The feedforward loop in this controller was designed to compensate for the deadband of the E/H system. The PID loop was designed to compensate the tracking error in steering control. A coordinated nonlinear gain function was designed to change the PID loop gain based on the level of the tracking error. This FPID controller has significantly improved the steering accuracy comparing with that from a PID controller. Test results showed that the maximum tracking error in steering angle was less than 0.5° corresponding to a sinusoid steering command of ±5° at the command frequency of 0.1 Hz. The maximum overshoot was less than 12% and the rise time was less than 0.25 s corresponding to a steering command of 5° step input. This FPID controller achieved effective and accurate steering control on agricultural tractor E/H steering systems.

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Sentouh, Chouki, Boussaad Soualmi, Jean-Christophe Popieul und Serge Debernard. „Cooperative Steering Assist Control System“. In 2013 IEEE International Conference on Systems, Man and Cybernetics (SMC 2013). IEEE, 2013. http://dx.doi.org/10.1109/smc.2013.165.

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Kolli, Kaylan C., und Ernest L. Hall. „Steering control system for a mobile robot“. In Intelligent Systems & Advanced Manufacturing, herausgegeben von David P. Casasent. SPIE, 1997. http://dx.doi.org/10.1117/12.290289.

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Berichte der Organisationen zum Thema "Control of steering systems"

Fujita, Yoshitaka, Yoshiaki Tsuchiya, Masato Suzumura und Takahiro Kojo. Development of Active Front Steering Control System. Warrendale, PA: SAE International, September 2005. http://dx.doi.org/10.4271/2005-08-0485.

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Nenggen, Ding, und Bo Ying. PD Variable Structure Control of Electric Power Steering System of Cars. Warrendale, PA: SAE International, Mai 2005. http://dx.doi.org/10.4271/2005-08-0183.

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Kaneko, Tetsuya, Hisashi Iizuka und Ichiro Kageyama. Non-Off-Tracking Control for Articulated Bus With All-Wheel-Steering System. Warrendale, PA: SAE International, Mai 2005. http://dx.doi.org/10.4271/2005-08-0358.

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Ulander, Klaus. Two-axis Beam Steering Mirror Control system for Precision Pointing and Tracking Applications. Office of Scientific and Technical Information (OSTI), Januar 2006. http://dx.doi.org/10.2172/893570.

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Tajima, Takamitsu, und Toru Oshima. Study of the Next-Generation Steering System Based on Muscular Cooperative Control Theory (Second Report). Warrendale, PA: SAE International, Mai 2005. http://dx.doi.org/10.4271/2005-08-0294.

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Hynd, David, Caroline Wallbank, Jonathan Kent, Ciaran Ellis, Arun Kalaiyarasan, Robert Hunt und Matthias Seidl. Costs and Benefits of Electronic Stability Control in Selected G20 Countries. TRL, Januar 2020. http://dx.doi.org/10.58446/lsrg3377.

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This report, commissioned by Bloomberg Philanthropies, finds that 42,000 lives could be saved and 150,000 serious injuries prevented by 2030 if all new cars in seven G20 countries were required to be equipped with an inexpensive crash avoidance technology starting in 2020. Thirteen G20 counties currently adhere to United Nations regulations on electronic stability control (ESC). If the seven remaining countries—Argentina, Brazil, China, India, Indonesia, Mexico and South Africa—also mandated ESC in 2020, the report estimates $21.5 billion in economic benefit to those countries from the prevention of deaths and serious injuries. Argentina and Brazil are due to start applying ESC regulations in 2020. The UK-based Transport Research Laboratory (TRL) conducted the independent study of costs and benefits of applying ESC regulation in G20 countries, which are responsible for 98% of the world’s passenger car production. This report comes before the 3rd Ministerial Conference on Road Safety in Stockholm, which is the largest gathering of governments and is a key opportunity for adoption of this UN-recommended standard. According to the World Health Organization’s Global Road Safety Report, the number of road traffic deaths reached 1.35 million in 2016. Of all vehicle safety features, electronic stability control is regarded as the most important one for crash avoidance since it is 38% effective in reducing the number of deaths in loss-of-control collisions. ESC tries to prevent skidding and loss of control in cases of over-steering and under-steering. The technology continuously monitors a vehicle’s direction of travel, steering wheel angle and the speed at which the individual wheels are rotating. If there is a mismatch between the intended direction of travel and the actual direction of travel, as indicated by the steering wheel position, ESC will selectively apply the brakes and modulate the engine power to keep the vehicle traveling along the intended path. The cost of implementing ESC on vehicles that already contain anti-lock braking systems is thought to be as little as $50 per car. And the report finds the benefits are significant: For every dollar spent by consumers in purchasing vehicles with these technologies, there is a US$2.80 return in economic benefit to society because of the deaths and serious injuries avoided. The analysis warns that without regulation of ESC, the seven remaining G20 countries will only reach 44% installation of ESC by 2030. However, if all seven countries implemented ESC regulations this year, 85% of the total car fleet in G20 countries will have ESC by 2030, a figure still below the United Nations target of 100% ESC fleet coverage by 2030.

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Sano, Shoichi, Yasuharu Oyama, Akio Nemoto und Atsushi Seki. A New Steering Control Method and Its Evaluation (Second Report)~Evaluation of Azimuth Angle Feedback System. Warrendale, PA: SAE International, Mai 2005. http://dx.doi.org/10.4271/2005-08-0356.

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Quinn, Brian, Jordan Bates, Michael Parker und Sally Shoop. A detailed approach to autonomous vehicle control through Ros and Pixhawk controllers. Engineer Research and Development Center (U.S.), November 2021. http://dx.doi.org/10.21079/11681/42460.

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A Polaris MRZR military utility vehicle was used as a testing platform to develop a novel, low cost yet feature-rich, approach to adding remote operation and autonomous driving capability to a military vehicle. The main concept of operation adapts steering and throttle output from a low cost commercially available Pixhawk autopilot controller and translates the signal into the necessary inputs for the Robot Operating System (ROS) based drive by wire system integrated into the MRZR. With minimal modification these enhancements could be applied to any vehicle with similar ROS integration. This paper details the methods and testing approach used to develop this autonomous driving capability.

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Sano, Shoichi, und Yasuharu Oyama. A New Steering Control Method and Its Evaluation (First Report)~Configuration and Characteristics of Azimuth Angle Feedback System. Warrendale, PA: SAE International, Mai 2005. http://dx.doi.org/10.4271/2005-08-0355.

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Kubica, Stefan, Tobias Peuschke-Bischof, Belinda Müller und Robin Avci. Fahrmanöver für Geradeausfahrt. Technische Hochschule Wildau, 2019. http://dx.doi.org/10.15771/1264.

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This repository contains various short driving scenarios of our vehicle fleet in 1:14 scale. These are part of our digital learning factory "Wildauer Maschinen Werke" (www.th-wildau.de/wmw) and are used for the development of autonomous driving functions. The data is recorded in the form of Rosbags in the underlying robotic operating system (www.ros.org) and can be played in their own ROS server instances, whereby the recorded journeys of the vehicles can be simulated and used for their own developments. The scenarios contain short driving scenarios with so-called ROS topics. This includes engine and steering control and frontal distance measurements of an ultrasonic sensor. Videos are also provided for each scenario for a better overview. It is the 1st generation. Towards the end of 2020, data sets will follow that additionally contain camera data, GPS coordinates and speed as well as laser scanner data.

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