Zeitschriftenartikel: „Control of steering systems“

1

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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2

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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3

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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4

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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5

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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6

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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8

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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10

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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Liu, Xu Hui, Ying Hui Liu und Ding Feng. „Downhole Propulsion/Steering Mechanism for Wellbore Trajectory Control in Directional Drilling“. Applied Mechanics and Materials 318 (Mai 2013): 185–90. http://dx.doi.org/10.4028/www.scientific.net/amm.318.185.

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Advanced directional drilling, especially rotary steerable systems, provides directional control of wellbore while continuously rotating the drill bit. Downhole propulsion/steering mechanism is one of the key components in rotary closed-loop drilling system. Downhole steering/propulsion mechanisms currently used for directional control include adjustable stabilizer, steerable downhole motor and steering actuators used in state-of-the-art rotary steerable systems. The novel electro-mechanical propulsion and steering mechanisms are introduced, in order to produce downhole weight on bit (WOB) and directional control of the drill bit while rotating it as well. The mechanisms are based on high-reduction ratio planetary gear system and DC motor. This propulsion/steering mechanism introduces a unique rotary steering method with a manner of turning screw inside borehole. As a downhole propulsion/steering mechanism, it can be integrated with an existing MWD system to provide directional control and downhole propulsion force on drill bit.

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Hongzhen Yang, Bin Zhang und Yanjun Liu. „Control Analysis of Vehicle Steering System based on Closed-Loop Control Algorithm“. Electrotehnica, Electronica, Automatica 71, Nr. 1 (15.03.2023): 53–63. http://dx.doi.org/10.46904/eea.23.71.1.1108006.

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When a four-wheel vehicle turns and the steering centre of the front and rear wheels is one point, it is regarded as the theoretical optimal steering of the vehicle and the goal of optimal control. Aiming at the commonly used multi-link steering system, the system control was analysed, according to the structural characteristics and angle relationship. Based on the closed-loop control algorithm, the optimal control of the steering system was designed and analysed, according to the steering control quantity obtained by the target path and parameter feedback. At the same time, the state variables and prediction parameters of the system were analysed. Based on the actual vehicle and steering optimal control system, the changes of various parameters of vehicle operation under no-load condition and turning at 30 km/h were analysed and compared with the theoretical optimal value to verify the effectiveness of the control system. The results show that: the state variables of the control system are predicted by discrete analysis and half step integration, and the accuracy is high. In the steady state turning condition, with the lifting of the vehicle, the radius of the steering track gradually increases, and the vehicle shows obvious understeer characteristics. Under the two working conditions, the characteristic curves obtained by the steering control system are highly consistent with the theoretical values, and the peak error of the two is controlled within 5%, indicating the reliability of the optimal control algorithm, which provides a reference for such design optimization.

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Bartnicki, Adam, Piotr Sprawka und Arkadiusz Rubiec. „Remote Control System for Rescue Robot“. Solid State Phenomena 210 (Oktober 2013): 294–300. http://dx.doi.org/10.4028/www.scientific.net/ssp.210.294.

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Unmanned ground platforms are increasingly used to perform tasks under direct threat to the operators life and health. Separating an operator from a controlled machine places high demands to its steering system. The requirement of reliability put to such platforms in terms of potential threats makes their steering systems being very precise controlled and tested at the stage of construction. The key element in the steering process of unmanned ground platforms are surroundings display systems which determine the success of conducting rescue operations. This paper presents an unmanned ground platform controlled by remote operator and describes some of the functionality tests of the remote control system. Keywords: Robot, Remote Control, Vision System, Teleoperation

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14

Khalil, H. K., und Y. N. Hu. „Steering Control of Singularly Perturbed Systems: A Composite Control Approach“. IFAC Proceedings Volumes 20, Nr. 5 (Juli 1987): 181–86. http://dx.doi.org/10.1016/s1474-6670(17)55083-1.

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15

Khalil, H. K., und Y. N. Hu. „Steering control of singularly perturbed systems: a composite control approach“. Automatica 25, Nr. 1 (Januar 1989): 65–75. http://dx.doi.org/10.1016/0005-1098(89)90120-9.

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16

Yim, Seongjin. „Comparison among Active Front, Front Independent, 4-Wheel and 4-Wheel Independent Steering Systems for Vehicle Stability Control“. Electronics 9, Nr. 5 (12.05.2020): 798. http://dx.doi.org/10.3390/electronics9050798.

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For the last four decades, several steering systems for vehicles such as active front steering (AFS), front wheel independent steering (FWIS), 4-wheel steering (4WS) and 4-wheel independent steering (4WIS) have been proposed and developed. However, there have been few approaches for comparison among these steering systems with respect to yaw rate tracking or path tracking performance. This paper presents comparison among AFS, FWIS, 4WS and 4WIS in terms of vehicle stability control. In view of vehicle stability control, these systems are used as an actuator for generation of yaw moment. Direct yaw moment control is adopted to calculate a control yaw moment. Distribution from the control yaw moment into tire forces is achieved by a control allocation method. From the calculated tire forces, the steering angles of FWIS, 4WS and 4WIS are determined with a lateral tire force model. To check the performance of these actuators, simulation is conducted on vehicle simulation packages, CarSim. From the simulation, the advantages of FWIS and 4WIS are revealed over AFS and 4WS.

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17

Zhou, Zhigang, Xinqing Ding und Zhichong Shi. „Research on Collaborative Control of Differential Drive Assisted Steering and Active Front Steering for Distributed Drive Electric Vehicles“. World Electric Vehicle Journal 14, Nr. 10 (13.10.2023): 292. http://dx.doi.org/10.3390/wevj14100292.

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A collaborative control strategy for distributed drive electric vehicles (DDEVs) focusing on differential drive assisted steering (DDAS) and active front steering (AFS) is proposed to address the issues of sudden torque changes, reduced steering characteristics, and weak collaborative control capabilities caused by the coupling of the AFS and DDAS systems in DDEVs. This paper establishes a coupled dynamic model of the AFS and DDAS systems and, on this basis, designs AFS controllers for yaw velocity feedback control and DDAS controllers for steering wheel torque control, respectively. Additionally, it analyzes the interference factors of the two control systems and develops a collaborative control strategy for DDAS and AFS; this control strategy establishes a corner motor correction module, steering wheel torque correction module, and assistance correction module. Co-simulation is carried out on Matlab/Simulink and the Carsim platform to verify the correctness of the model under typical working conditions; to reduce the sudden change in the steering wheel torque caused by AFS additional angle interventions; to improve the poor steering characteristics caused by DDAS, introducing additional yaw torque; to greatly enhance the collaborative control effect; and to meet the requirements for vehicle handling stability, portability, and safety.

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ONO, Eiichi, Yasutaka HAYASHI, Shun-ichi DOI, Kaoru TAKANAMI und Shigeyuki HOSOE. „Integrated Control of Vehicle Steering and Suspension Systems“. Transactions of the Society of Instrument and Control Engineers 28, Nr. 5 (1992): 610–18. http://dx.doi.org/10.9746/sicetr1965.28.610.

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19

TAJIMA, Jun, und Naohiro YUHARA. „Recognition Systems of Driver's Intention on Steering Control“. Transactions of the Society of Instrument and Control Engineers 39, Nr. 11 (2003): 1061–70. http://dx.doi.org/10.9746/sicetr1965.39.1061.

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20

Fazal-ur-Rehman. „Discontinuous steering control for nonholonomic systems with drift“. Nonlinear Analysis: Theory, Methods & Applications 63, Nr. 3 (November 2005): 311–25. http://dx.doi.org/10.1016/j.na.2005.04.042.

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21

Field, D. T., R. M. Wilkie und J. P. Wann. „Neural Systems in the Visual Control of Steering“. Journal of Neuroscience 27, Nr. 30 (25.07.2007): 8002–10. http://dx.doi.org/10.1523/jneurosci.2130-07.2007.

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22

Falcone, Paolo, Francesco Borrelli, Jahan Asgari, Hongtei Eric Tseng und Davor Hrovat. „Predictive Active Steering Control for Autonomous Vehicle Systems“. IEEE Transactions on Control Systems Technology 15, Nr. 3 (Mai 2007): 566–80. http://dx.doi.org/10.1109/tcst.2007.894653.

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23

Easwaran, Arvind, Sampath Kannan und Oleg Sokolsky. „Steering of Discrete Event Systems: Control Theory Approach“. Electronic Notes in Theoretical Computer Science 144, Nr. 4 (Mai 2006): 21–39. http://dx.doi.org/10.1016/j.entcs.2005.02.066.

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24

Baek, Jaemin, und Changmook Kang. „Time-Delayed Control for Automated Steering Wheel Tracking of Electric Power Steering Systems“. IEEE Access 8 (2020): 95457–64. http://dx.doi.org/10.1109/access.2020.2990970.

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25

Lu, Zhi Xiong, Jiang Xue Chang, Xue Feng Bai, Yang Lu und Jun Gan Wu. „Analysis of Steering Control Strategy on Tractor's Hydraulic Steering By-Wire System“. Applied Mechanics and Materials 487 (Januar 2014): 630–34. http://dx.doi.org/10.4028/www.scientific.net/amm.487.630.

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The structure and working principle of the hydraulic steering by-wire system were described, and the optimal control algorithm of the system was obtained by the comparative analysis. Fuzzy control was chosen as the steering systems control algorithm, and it can realize closed-loop control of the front wheel corner. Matlab/Simulink was used for the simulation of the entire system. The simulation got the fuel tank displacements response curve, and verified the accuracy of the system design, which can provide a reference to the design of tractors steering system. Bench test was proposed to verify the accuracy of the system. The bench test results showed that the hydraulic steering by-wire controller can realize systems steering function well, and the system improved the control accuracy and fast response characteristics.

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Lee, Dongpil, Kyongsu Yi, Sehyun Chang, Byungrim Lee und Bongchoon Jang. „Robust steering-assist torque control of electric-power-assisted-steering systems for target steering wheel torque tracking“. Mechatronics 49 (Februar 2018): 157–67. http://dx.doi.org/10.1016/j.mechatronics.2017.12.007.

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27

B M,, Mohit. „ADAS USING TOUCH SENSOR“. International Journal of Advanced Research in Computer Science 14, Nr. 03 (20.06.2023): 164–69. http://dx.doi.org/10.26483/ijarcs.v14i3.7009.

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EPS systems integrate Advanced Driver Assistance Systems (ADAS) while the driver controls the steering wheel. Touch sensors, torque, and position sensors improve driver involvement, safety, and control in EPS. ADAS features like lane-keeping assistance and adaptive cruise control are activated by the driver’s steering wheel touch. EPS with driver-enabled ADAS integration, using touch sensors, empowers drivers while leveraging enhanced automation. The vehicle model design incorporates touch sensors, Arduino, and motor drivers to enable Advanced Driver Assistance Systems (ADAS) exclusively when the driver holds the steering wheel. The touch sensors detect the driver’s touch on the steering wheel, triggering the ADAS functionalities and allowing the vehicle to move. The Arduino microcontroller, equipped with embedded C code, processes the touch sensor inputs and communicates with the motor drivers to initiate vehicle propulsion. The embedded C code facilitates real-time monitoring and control of the touch sensor inputs, enabling a seamless integration between driver interaction and vehicle movement, thereby enhancing both safety and user experience

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Modjtahedzadeh, A., und R. A. Hess. „A Model of Driver Steering Control Behavior for Use in Assessing Vehicle Handling Qualities“. Journal of Dynamic Systems, Measurement, and Control 115, Nr. 3 (01.09.1993): 456–64. http://dx.doi.org/10.1115/1.2899123.

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A control theoretic model of driver steering control behavior is presented. The resulting model is shown capable of producing driver/vehicle steering responses which compare favorably with those obtained from driver simulation. The model is simple enough to be used by engineers who may not be manual control specialists. The model contains both preview and compensatory steering dynamics. An analytical technique for vehicle handling qualities assessment is briefly discussed. Driver/vehicle responses from two driving tasks evaluated in a driver simulator are used to evaluate the overall validity of the driver/vehicle model. Finally, the model is exercised in predictive fashion in the computer simulation of a lane keeping task on a curving roadway where the simulated vehicle possessed one of three different steering systems: a conventional two-wheel steering system and a pair of four-wheel steering systems.

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Whitehead, J. C. „Rear Wheel Steering Dynamics Compared to Front Steering“. Journal of Dynamic Systems, Measurement, and Control 112, Nr. 1 (01.03.1990): 88–93. http://dx.doi.org/10.1115/1.2894144.

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The lateral dynamics of rear wheel steering vehicles are examined using low order linear mathematical models. The response to rear steer angle inputs differs significantly from the front wheel steering response at low speeds. However, both the transient and steady state responses become less dependent on which wheels are steered as vehicle speed increases. This fact indicates that the unusual fixed control response does not alone cause rear wheel steering vehicles to be unsafe at high speeds. The free control instability unique to rear wheel steering vehicles is analyzed using a torque input model which treats steer angle as a degree of freedom. The cause of this unstable weave mode and the stable front wheel steering weave mode is a ratio of tire slip angle to steer angle in excess of unity during high speed cornering.

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Allous, Manel, Kais Mrabet und Nadia Zanzouri. „Fast fault-tolerant control of electric power steering systems in the presence of actuator fault“. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 233, Nr. 12 (07.12.2018): 3088–97. http://dx.doi.org/10.1177/0954407018816556.

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Electric power steering is an advanced steering system that uses an electric motor to improve steering comfort of the car. As a result, the failures in the electric motor can lead to additional fault modes and cause damage of the electric power steering system performance. Hence, to ensure the stability of this latter, the present paper proposes a new method to reconfigure the fault control. A novelty approach of fast fault estimation based on adaptive observer is also proposed. Moreover, to guarantee optimal and fast control, a fault-tolerant control based on inverse bond graph modeling is designed to construct the behavior of the nominal system. The simulation and the experimental results on a real electric power steering system reveal the importance of the control strategy and show that the proposed approach works as intended.

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Su, Shuhua, und Gang Chen. „Lateral robust iterative learning control for unmanned driving robot vehicle“. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 234, Nr. 7 (14.04.2020): 792–808. http://dx.doi.org/10.1177/0959651820904834.

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In order to achieve stable steering and path tracking, a lateral robust iterative learning control method for unmanned driving robot vehicle is proposed. Combining the nonlinear tire dynamic model with the vehicle dynamic model, the nonlinear vehicle dynamic model is constructed. The structure of steering manipulator of unmanned driving robot vehicle is analyzed, and the kinematics model and dynamics model of steering manipulator of unmanned driving robot vehicle are established. The structure of vehicle steering system is analyzed, and the dynamic model of vehicle steering system is established. Vehicle steering angle model is established by taking vehicle path tracking error and vehicle yaw angle error as input. Combining with the typical iterative learning control law, the robust term is added to the control law, and a robust iterative learning controller for steering manipulator system of unmanned driving robot vehicle is designed. The proposed controller’s stability and astringency are proved. The effectiveness of the proposed method is verified by comparing it with other control methods and human driver simulation tests.

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Guan, Wei, Haowen Peng, Xianku Zhang und Hui Sun. „Ship Steering Adaptive CGS Control Based on EKF Identification Method“. Journal of Marine Science and Engineering 10, Nr. 2 (20.02.2022): 294. http://dx.doi.org/10.3390/jmse10020294.

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In recent years, marine autonomous surface vessels (MASS) have grown into a ship research issue to increase the level of autonomy of ship behavior decision-making and control while sailing at sea. This paper focuses on the MASS motion control module design that aims to improve the accuracy and reliability of ship steering control systems. Nevertheless, the stochastic sea and wind environment have led to the extensive use of filters and state observers for estimating the ship-motion-related parameters, which are important for ship steering control systems. In particular, the ship maneuverability Nomoto index, which primarily determines the designed ship steering controller’s performance, cannot be observed directly due to the model errors and the external environment disturbance in the process of sailing. Hence, an adaptive robust ship steering controller based on a closed-loop gain shaping (CGS) scheme and an extended Kalman filter (EKF) on-line identification method is explored in this paper. To verify the effectiveness of the proposed steering controller design scheme, the motor vessel YUKUN was taken as the control plant and a series of simulation experiments were carried out. The results show the advantages of the dynamic response performance of the proposed steering controller compared with the classical PD and traditional CGS controllers. Therefore, the proposed adaptive CGS steering controller would be a good solution for MASS motion control module design.

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Yu, Ssu-Hsin, und John J. Moskwa. „A Global Approach to Vehicle Control: Coordination of Four Wheel Steering and Wheel Torques“. Journal of Dynamic Systems, Measurement, and Control 116, Nr. 4 (01.12.1994): 659–67. http://dx.doi.org/10.1115/1.2899265.

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Currently, advanced control systems implemented on production ground vehicles have the goal of promoting maneuverability and stability. With proper coordination of steering and braking action, these goals may be achieved even when road conditions are severe. This paper considers the effect of steering and wheel torques on the dynamics of vehicular systems. Through the input-output linearization technique, the advantages of four-wheel steering (4WS) system and independent torques control are clear from a mathematical point of view. A sliding mode controller is also designed to modify driver’s steering and braking commands to enhance maneuverability and safety. Simulation results show the maneuverability and safety are improved. Although the controller design is based on a four-wheel steering vehicle, the algorithm can also be applied to vehicles of different configurations with slight changes.

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Mitov, Alexander, Jordan Kralev und Ilcho Angelov. „Cascade control algorithm of test bench for studying loadsensing electrohydraulic steering systems“. MATEC Web of Conferences 234 (2018): 02006. http://dx.doi.org/10.1051/matecconf/201823402006.

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The paper presents the design and synthesis of a three-loop cascade control system with a digital PI controller intended for installation in a test bench for load-sensing electrohydraulic steering units. The structure and layout of both the hydraulic system and the control system are shown. The cascade control system consists of three controllers for measurable variables: proportional spool valve position, steering velocity and steering cylinder position. The developed control algorithm is embedded into a 32-bit microcontroller for mobile applications. Experimental studies have been carried out to present the performance of the entire electrohydraulic system. The developed control algorithm will serve as a basis for further study of the system with advanced control techniques implementable in low speed mobile machines.

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Macuga, Kristen L., Andrew C. Beall, Roy S. Smith und Jack M. Loomis. „Visual control of steering in curve driving“. Journal of Vision 19, Nr. 5 (01.05.2019): 1. http://dx.doi.org/10.1167/19.5.1.

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36

Jansen, AJ, Nathaniel Powell und Brett Fajen. „Visual control of steering through multiple waypoints“. Journal of Vision 23, Nr. 9 (01.08.2023): 5721. http://dx.doi.org/10.1167/jov.23.9.5721.

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37

Lee, A. Y. „A Preview Steering Autopilot Control Algorithm for Four-Wheel-Steering Passenger Vehicles“. Journal of Dynamic Systems, Measurement, and Control 114, Nr. 3 (01.09.1992): 401–8. http://dx.doi.org/10.1115/1.2897361.

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This paper addresses the control law design of a preview steering autopilot for a four-wheel-steering vehicle to perform automatic lane tracking. In the concept, an on-board computer vision system is used in lieu of the driver’s vision to track the roadway. The steering autopilot design is formulated as an optimal, discrete-time preview path tracking problem under the “perfect measurement” assumption. Simulation results indicate that the tracking performance of the steering autopilot was improved by preview relative to that calculated for an autopilot without preview. These results also indicate the existence of an effective preview time with which almost all the benefits of previewing future information can be obtained. This effective preview time is about three times the reciprocal of the autopilot’s bandwidth. Our study also indicates that preview steering autopilots can tolerate the use of actuators with a lower bandwidth than those designed without preview information.

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Rasib, Marya, Muhammad Atif Butt, Shehzad Khalid, Samia Abid, Faisal Raiz, Sohail Jabbar und Kijun Han. „Are Self-Driving Vehicles Ready to Launch? An Insight into Steering Control in Autonomous Self-Driving Vehicles“. Mathematical Problems in Engineering 2021 (18.02.2021): 1–22. http://dx.doi.org/10.1155/2021/6639169.

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In the last couple of years, academia-industry collaboration has demonstrated rapid advancements in the development of self-driving vehicles. Since it is evident that self-driving vehicles are going to reshape the traditional transportation systems in near future through enhancement in safe and smart mobility, motion control in self-driving vehicles while performing driving tasks in a dynamic road environment is still a challenging task. In this regard, we present a comprehensive study considering the evolution of steering control methods for self-driving vehicles. Initially, we discussed an insight into the traditional steering systems of the vehicles. To the best of our knowledge, currently, there is no taxonomy available, which elaborates steering control methods for self-driving vehicles. In this paper, we present a novel taxonomy including different steering control methods which are categorized into deterministic and heuristic steering control methods. Concurrently, the abovementioned techniques are critically reviewed elaborating their strengths and limitations. Based on the analysis, key challenges/research gaps in existing steering control methods along with the possible solutions have been briefly discussed to improve the effectiveness of the steering system of self-driving vehicles.

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Marigo, Alessia. „Optimal input sets for steering quantized systems“. Mathematics of Control, Signals, and Systems 22, Nr. 2 (05.09.2010): 129–53. http://dx.doi.org/10.1007/s00498-010-0055-2.

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40

HATANO, Kenji, und Makoto YOKOYAMA. „118 Sliding Mode Control for Electric Power Steering Systems“. Proceedings of Conference of Hokuriku-Shinetsu Branch 2000.37 (2000): 35–36. http://dx.doi.org/10.1299/jsmehs.2000.37.35.

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41

Jing, Hui, Rongrong Wang, Cong Li und Jinxiang Wang. „Differential steering-based electric vehicle lateral dynamics control with rollover consideration“. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering 234, Nr. 3 (02.07.2019): 338–48. http://dx.doi.org/10.1177/0959651819855810.

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This article investigates the differential steering-based schema to control the lateral and rollover motions of the in-wheel motor-driven electric vehicles. Generated from the different torque of the front two wheels, the differential steering control schema will be activated to function the driver’s request when the regular steering system is in failure, thus avoiding dangerous consequences for in-wheel motor electric vehicles. On the contrary, when the vehicle is approaching rollover, the torque difference between the front two wheels will be decreased rapidly, resulting in failure of differential steering. Then, the vehicle rollover characteristic is also considered in the control system to enhance the efficiency of the differential steering. In addition, to handle the low cost measurement problem of the reference of front wheel steering angle and the lateral velocity, an [Formula: see text] observer-based control schema is presented to regulate the vehicle stability and handling performance, simultaneously. Finally, the simulation is performed based on the CarSim–Simulink platform, and the results validate the effectiveness of the proposed control schema.

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Zhao, Hai Xia, und Zhi En Lv. „Research on Angle Measurement of Loader's Steering-by-Wire System“. Applied Mechanics and Materials 373-375 (August 2013): 138–41. http://dx.doi.org/10.4028/www.scientific.net/amm.373-375.138.

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The loader's steer-by-wire system combines the automatic control system and hydraulic system. The system cancels the mechanical or hydraulic connection between the steering wheel and the front wheels, which existed in the original steering system, optimizing the adaptation of the loaders steering systems road feeling to its working conditions, convenient for the integration with other systems, and harmonization of control. This paper puts forward a new measurement of a steer-by-wire system steering angel. It aims at more accurate corner detection, will design to optimize loader's steer-by-wire hydraulic system signal detection, and better meet the actual needs.

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Kis, J., und L. Jánosi. „Improved handling characteristics of off-road vehicles by applying active control of steering wheel torque“. International Journal Sustainable Construction & Design 2, Nr. 1 (06.11.2011): 66–74. http://dx.doi.org/10.21825/scad.v2i1.20437.

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Driving speed of agricultural mobile machines have been increased in the recent years, raisingserious questions about vehicle handling characteristics considering the high center-of-gravity, multi-massconfiguration and rear-wheel-steering of these vehicles. The next generation of steering systems on offroad vehicles will incorporate a steering column mechatronic subsystem which will generate tactilefeedback for operator. This paper presents our research work to utilize steering wheel torque to improveoff-road vehicle handling characteristics.

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Lin, Jiaxin, Feng Zhang, Liang Su, Guangji Song, Zhiwei Liu und Yong Zhang. „Research on Variable Transmission Ratio Control Method to Improve Vehicle Handling Comfort Based on Steer-by-Wire System“. Actuators 13, Nr. 2 (26.01.2024): 48. http://dx.doi.org/10.3390/act13020048.

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The steer-by-wire system severs the mechanical link between the steering wheel and the steering gear. This configuration enhances the angular transmission characteristics. Entering the nonlinear region of the tires could result in a reduction in the vehicle’s steering gain. In order to improve the comfort of vehicle steering operation, we have developed a variable transmission ratio controller for the steer-by-wire (SBW) system. This controller utilizes information on the vehicle speed and steering wheel angle to generate a variable transmission ratio coefficient, thereby adjusting the steering ratio. We introduce a multi-objective comprehensive evaluation index that takes into account vehicle lateral deviation, driver steering burden, vehicle stability, and safety. To harmonize the transmission ratio weights of constant steering gain, we employ the coefficient of variation method. Ultimately, a fuzzy neural network is employed to craft a nonlinear controller. We conducted steady-state circular motion tests, double lane-change tests, and step input tests to validate the performance of the variable transmission ratio control. The results suggest that, in comparison to conventional fixed transmission ratio systems, the variable transmission ratio control within the steer-by-wire system significantly alleviates the driver’s operational burden while enhancing the vehicle’s handling stability and safety.

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Shen, Bin, und P. K. Ji. „The Application of AD Theory in the Study of Active Steering System“. Materials Science Forum 697-698 (September 2011): 636–41. http://dx.doi.org/10.4028/www.scientific.net/msf.697-698.636.

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A new type of steering system so called Ackerman active steering system is put forward through combining the active steering with Ackerman geometry theory. The application of axiomatic design concepts to the steering system design is presented. The fundamental function requirements and the relative design parameters of desirable steering systems are introduced according to the trend of steering system evolution. The uncoupling control system is proposed and the simulation is conducted to verify the concept. The result shows that the coupled system can be converted into an uncoupled one via further design on control system.

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Mitov, Alexander, Tsonyo Slavov und Jordan Kralev. „Robustness Analysis of an Electrohydraulic Steering Control System Based on the Estimated Uncertainty Model“. Information 12, Nr. 12 (09.12.2021): 512. http://dx.doi.org/10.3390/info12120512.

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The impossibility of replacing hydraulic drives with other type drives in heavy duty machinery is the main reason for the development of a system for controlling hydraulic power steering. Moreover, the need for remote automatic control of the steering in specific types of mobile machinery leads to significant scientific interest in the design of embedded systems for controlling electro-hydraulic steering units. This article introduces an approach, which has been developed by authors, for robust stability and robust performance analysis of two embedded systems for controlling electro-hydraulic power steering in mobile machinery. It is based on the suggested new more realistic “black box” SIMO model with output multiplicative uncertainty. The uncertainty is obtained by parameters confidence interval and Gauss approximation formula. The embedded control systems used a linear-quadratic Gaussian (LQG) controller and H∞ controller. The synthesis of the controllers was performed on the basis of a nominal part of an uncertainty model. Robust stability and robust performance analyses were performed in the framework of a so-called structured singular value, μ. The obtained theoretical results were experimentally approved by real experiments with both of the developed control systems, which were physically realized as a laboratory test rig.

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Slavov, Tsonyo, Alexander Mitov und Jordan Kralev. „Advanced Embedded Control of Electrohydraulic Power Steering System“. Cybernetics and Information Technologies 20, Nr. 2 (01.06.2020): 105–21. http://dx.doi.org/10.2478/cait-2020-0020.

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AbstractThe article presents a developed embedded system for control of electrohydraulic power steering based on multivariable uncertain plant model and advanced control techniques. The plant model is obtained by identification procedure via “black box” system identification and takes into account the deviations of the parameters that characterize the way that the control signal acts on the state of the model. Three types of controller are designed: Linear-Quadratic Gaussian (LQG) controller, H∞ controller and μ-controller. The main result is a performed comparative analysis of time and frequency domain properties of control systems. The results show the better performance of systems based on µ-controllers. Also the robust stability and robust performance are investigated. All three systems achieved robust stability which guarantees their workability, but only the system with µ-controller has robust performance against prescribed uncertainties. The control algorithms are implemented in specialized 32-bit microcontroller. A number of real world experiments have been executed, which confirm the quality of the electrohydraulic power steering control system.

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Lee, Junho, und Hyuk-Jun Chang. „Multi-parametric model predictive control for autonomous steering using an electric power steering system“. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 233, Nr. 13 (22.01.2019): 3391–402. http://dx.doi.org/10.1177/0954407018824773.

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Electric power steering systems have been used to generate assist torque for driver comfort. This study makes use of the functionality of electric power steering systems for autonomous steering control without driver torque. A column-type electric power steering test bench, equipped with a brushless DC motor as an assist motor, and the Infineon TriCore AURIX TC 277 microcontroller was used in this study. Multi-parametric model predictive control is based on a model predictive control–based approach that employs a multi-parametric quadratic programming technique. This technique allows the reduction of the huge computational burden resulting from the online optimization in model predictive control. The proposed controller obtains an optimal input based on multi-parametric quadratic programming at each sampling time. The weighting matrix definition, which is the main task when designing the proposed controller, was analyzed. The experimental results of the step response of the steering wheel angle verified the tracking ability of the proposed controller for different ranges of the prediction horizon. Since the computational loads are directly related to functional safety, the results of this study support the use of the multi-parametric model predictive control scheme as an effective control method for autonomous steering control.

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Ravi Ghule and Simran Shaikh, Prof Nivedita, Pall Choudhury, Ashutosh Jagdale,. „A Review Paper on Electric Assisted Steering System for Automobiles“. International Journal for Modern Trends in Science and Technology 7, Nr. 03 (10.04.2021): 54–56. http://dx.doi.org/10.46501/ijmtst0703009.

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Electric Assisted Steering system is an Electric System, which reduces the amount of steering effort by directly applying the output from the electric motor to the steering system.In this system the mechanical link between the steering wheel and road wheels of an automobile are replaced by a control system consisting of sensors, actuators and controllers seem to offer great advantages such as enhanced system performance, simplified construction, design flexibility etc.It offers greater vehicle safety by adapting variable steering ratios to human needs, filtering drive train influences and even adjusting active steering torque in critical situations. In addition, it can make cars even lighter and more fuel efficient when compared to those using hydraulic steering systems. The central electronic elements of today’s steering systems are modern microcontrollers

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Shi, Haozhe, Guoqing Geng, Xing Xu, Ju Xie und Shenguang He. „Path Tracking Control of Intelligent Vehicles Considering Multi-Nonlinear Characteristics for Dual-Motor Autonomous Steering System“. Actuators 12, Nr. 3 (23.02.2023): 97. http://dx.doi.org/10.3390/act12030097.

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In the path tracking control of intelligent vehicles, the traditional linear control method is prone to high tracking errors for uncertain parameters of the steering transmission system and road conditions. Therefore, considering the mechanical friction in the dual-motor autonomous steering system and the nonlinearity of tires, this paper proposes a path tracking control strategy of intelligent vehicles for the dual-motor autonomous steering system that considers nonlinear characteristics. First, a dual-motor autonomous steering system considering mechanical friction and the variation of tire cornering stiffness under different tire–road friction coefficients was established based on the structure of an autonomous steering system. Second, a tire–road friction coefficient estimator was designed based on a PSO-LSTM neural network. The tire cornering stiffness under different tire–road friction coefficients was estimated through the recursive least-square algorithm. Then, the control strategy of the dual-motor autonomous steering system was designed by combining the LQR path tracking controller with the adaptive sliding mode control strategy based on field-oriented control. Here, mechanical friction and the variation of tire cornering stiffness were considered. Finally, simulation and HiL tests validated the method proposed in this paper. The results show that the proposed control strategy significantly improves the tracking accuracy and performance of the dual-motor autonomous steering system for intelligent vehicles.

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