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Статті в журналах з теми "Steering-drive"

Автор: Grafiati

Опубліковано: 4 червня 2021

Оновлено: 19 лютого 2022

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1

Pakhomin, Sergey. "ELECTRIC DRIVE OF THE STEERING MECHANISM." University News. North-Caucasian Region. Technical Sciences Series, no. 4 (December 2017): 53–56. http://dx.doi.org/10.17213/0321-2653-2017-4-53-56.

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2

Malinovsky, M. P. "Development of a geometric slip flat model when turning a vehicle with two steering axles." Trudy NAMI, no. 2 (July 17, 2021): 34–45. http://dx.doi.org/10.51187/0135-3152-2021-2-34-45.

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Анотація:

Introduction (problem statement and relevance). One of the main stages in the design ofspecial purpose vehicles is the calculation of the steering control. At that, engineers are guided by anumber of regulatory documents that lack one of the most important requirements, which is to minimize tire lateral deviation. The author notes the lack of scientific research in the field of geometric slip, which is caused by the non-compliance between the actual angles of wheels rotation and the calculated values for pure rolling and is an inherent property of any traditional steering linkage.The purpose of the study was to develop a mathematical model of the steering drive of a special-purpose vehicle with two steering axles to assess the geometric and power slip.Methodology and research methods. There is a known method for calculating the steering drive using trigonometric expressions, in particular the cosine theorem. The author proposed to use the coordinateiterative method developed by him and based on the equation of the sphere, with the steering wheel rotation angle in the kinematic calculation of the steering drive as a differentiation step. The choice of the steering drive parameters according to the conditions of symmetry and minimization of slip was carried out by the method of multivariable optimization.Results. In the course of the research, it was found that the choice of the characteristic of geometric noncompliance was a multi-parameter task, and changing one parameter led to the necessity of adjusting the others. If it was not possible to achieve zero geometric slip for all steered wheels, the task of optimizing the steering drive parameters wasreduced to minimizing geometric or total slip. The value of the slip essentially depended on the selected differentiation step. When choosing the characteristic of geometric slip, it was necessary to observe the condition of the steering linkage symmetry when turning left and right. When the wheels were turned from the neutral position to the periphery, the power and geometric slip compensated each other, which led to the decrease of the total slip and tire wear.The scientific novelty of the work lies in the development of a geometric slip model for a vehicle with two steerable axles, including a spatial model of the steering drive which allows to evaluate the influence of the geometric slip on the turn kinematics, as well as the mutual influence of geometric and power slip in order to select the steering drive optimal parameters of the multi-axle vehicle from the viewpoint of minimizing tire wear during curvilinear motion.Practical significance. The research results must be taken into account in the development of steering drive and turning control systems for multi-axle special-purpose vehicles, including them in the educational process as well.

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3

Zhu, Chuan Qi, Sen Wu, and Yun Zhen Yang. "Research on Electronic Differential Speed Control for In-Wheel Motor Drive Electric Vehicle." Applied Mechanics and Materials 525 (February 2014): 337–41. http://dx.doi.org/10.4028/www.scientific.net/amm.525.337.

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Анотація:

The paper studies control strategy of electronic differential for four in-wheel motors independent drive vehicle. For the in-wheel motor independent drive electric vehicle, the differential speed relationship among the two wheels is analyzed according to the Ackermann&Jeantand steering mode, building the steering differential speed mode which adapt to bench test. When a vehicle drives on a straight line, the speed of each drive wheel is equal. While on a curve, the speed between the inner wheel and the outer one must be different in order to maintain vehicle stability and avoid vehicle skid. The all wheels must meet the requirement of angular speed. Based on Matlab/Simulink software , As a input, vehicle structure parameter, steering angular and so on, this model of differential speed was structured, drive wheel differential speed relationship at different steering wheel angles was determined .Finally, this electronic differential speed control for in-wheel motor drive electric vehicle is validated through PID control closed loops bench simulation test .

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4

Leng, Bo, Yehan Jiang, Yize Yu, Lu Xiong, and Zhuoping Yu. "Distributed drive electric autonomous vehicle steering angle control based on active disturbance rejection control." Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 235, no. 1 (August 6, 2020): 128–42. http://dx.doi.org/10.1177/0954407020944288.

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Анотація:

Based on active disturbance rejection control technique and characteristics of electric power steering, a steering angle tracking controller is designed, which consists of an aligning moment estimator to deal with modeling error and nonlinearity of electric power steering. The aligning moment estimator is based on an extended state observer and takes steering system friction and differential drive steering torque, which is a unique phenomenon in a distributed drive electric vehicle, into consideration. According to the estimated aligning moment and tracking differentiator, the steering angle tracking controller is designed based on a nonlinear state feedback control and feedforward compensation control laws. Results of various simulations and experiments, including pivot steering, step input steering, and sinusoidal input steering, show that the proposed controller has good performance in tracking reference steering angle and is convenient to implement. With the aligning moment estimator, the proposed controller shows better results in comparative experiments than a conditional integral-based steering angle tracking controller.

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5

Rao, A. Padma. "Steering of an Automobile using Belt Drive." International Journal of Current Engineering and Technology 2, no. 2 (January 1, 2010): 610–14. http://dx.doi.org/10.14741/ijcet/spl.2.2014.116.

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6

Pan, Hao, and Run Sheng Song. "The Control Strategy and Experimental Analysis of Electronic Differential Steering for Four Independent Drive Hub Motor Electric Vehicle." Advanced Materials Research 1030-1032 (September 2014): 1550–53. http://dx.doi.org/10.4028/www.scientific.net/amr.1030-1032.1550.

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Анотація:

Wheel hub motor used in drive system of pure electric vehicle has become hot research and future development. Based on a four-wheel independent drive(4WID) electric vehicles with wheel hub motors, the paper has made the research on electronic differential steering control strategy by using Ackermann steering model conditions, and the experimental results have also been analyzed for the actual steering control effects under differential control strategy.

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7

Song, Qiang, and Pu Zeng. "Study on the Steering Performance of Dual-Motor Drive Track Bulldozer." Applied Mechanics and Materials 427-429 (September 2013): 133–36. http://dx.doi.org/10.4028/www.scientific.net/amm.427-429.133.

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Анотація:

The driving theory and the dynamic characteristics of small radius steering, medium radius steering and big radius steering is analyzed, and the simulation model is established under Matlab/Simulink. Then the track bulldozers steering performance of the three sheerings is simulated. The results show that, at different steering modes, the running states of the two sides driving motors are not the same, and the track driving forces of the two sides vary widely. The track driving force is great in the small radius steering model, while small in the medium and big radius steering models. The simulation results lay the foundation for dual-motor drive track bulldozers steering performance matching.

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8

Chen, Yi, and Jun Liu. "Research on Control Strategy of Differential Assisted Steering of Distributed Drive Electric Vehicle." Applied Mechanics and Materials 431 (October 2013): 241–46. http://dx.doi.org/10.4028/www.scientific.net/amm.431.241.

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Анотація:

The distributed drive electric vehicle was studied in this paper. According to the advantages of the controllable and accurate wheel speed and torque the ideal differential assisted characteristic curve was designed under different vehicle speed as well as a control strategy for differential power steering, a vehicle dynamics model based on CarSim/Simulink and simulation experiments were conducted. The experimental results indicated that on the premise to guarantee the road feeling, the control strategy for differential power steering decreased the steering wheel torque, angle and reduced driver's work-load , improved markedly the steering portability of the distributed drive electric vehicle.

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9

Xu, Tao, Xuewu Ji, and Yanhua Shen. "A novel assist-steering method with direct yaw moment for distributed-drive articulated heavy vehicle." Proceedings of the Institution of Mechanical Engineers, Part K: Journal of Multi-body Dynamics 234, no. 1 (November 26, 2019): 214–24. http://dx.doi.org/10.1177/1464419319889531.

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Анотація:

This paper presents a novel assist-steering method for distributed-drive articulated heavy vehicles (DAHVs) to reduce its dependency on hydraulic steering method and improve the pressure characteristics of hydraulic struts. The objective is to realise the electrification of steering process for DAHVs, which is the basis of unmanned design with more stable control in the following studies. The theory and purpose of the proposed assist-steering method in this paper distinguishes it from the traditional direct yaw-moment control method or assist-steering methods in the previous studies, which easily produce interference with hydraulic steering method in DAHVs during steering process. In this paper, an accurate vehicle model is developed along with the field test for its satisfactory verification. Meanwhile, with the decoupling analyses of two different effects of steering methods on vehicle steering process, the assist-steering method is developed. In order to show the advantages brought on by this method, a case study is performed and analyzed. The results demonstrate that this proposed method can reduce the pressure of hydraulic steering system to about 41.2% without any changes of steering process, which is limited by the drive ability of wheel-side motor. Moreover, the pressure of inlet chamber in hydraulic struts is always reduced to about 40%–60% without any changes of the pressure in outlet chamber, which can improve the working performance of hydraulic steering system.

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10

Tian, Jie, Jun Tong, and Shi Luo. "Differential Steering Control of Four-Wheel Independent-Drive Electric Vehicles." Energies 11, no. 11 (October 24, 2018): 2892. http://dx.doi.org/10.3390/en11112892.

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This paper investigates the skid steering of four-wheel independent-drive (4WID) electric vehicles (EV) and a differential steering of a 4WID EV with a steer-by-wire (SBW) system in case of steering failure. The dynamic models of skid steering vehicle (SSV) and differential steering vehicle (DSV) are established and the traditional front-wheel steering vehicle with neutral steering characteristics is selected as the reference model. On this basis, sideslip angle observer and two different sliding mode variable structure controllers for SSV and DSV are designed respectively. Co-simulation results of CarSim and Simulink show that the designed controller for DSV not only controls the yaw rate and sideslip angle of DSV to track those of the reference model exactly, but also ensures the robustness of the controlled system compared with the designed controller for SSV. And the differential driving torque needed to realize the differential steering is much smaller than that for skid steering, which indicates the possibility of the differential steering in case of steering failure.

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11

Wilson, Mark, Mark Chattington, and Dilwyn E. Marple-Horvat. "Eye Movements Drive Steering: Reduced Eye Movement Distribution Impairs Steering and Driving Performance." Journal of Motor Behavior 40, no. 3 (May 2008): 190–202. http://dx.doi.org/10.3200/jmbr.40.3.190-202.

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12

Gryzin, S. V. "Frequency model of an essentially nonlinear steering drive with a digital microcontroller." Civil Aviation High Technologies 23, no. 3 (July 3, 2020): 52–62. http://dx.doi.org/10.26467/2079-0619-2020-23-3-52-62.

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When designing a stabilization system for highly maneuverable unmanned aerial vehicles (UAVs), one of the relevant tasks is to study the operation of the steering drive in the frequency band corresponding to the flexural vibrations of the UAV body. To ensure the stability of the UAV stabilization system, quite conflicting requirements may be imposed on the dynamic characteristics of the drive. In particular, the requirement for a sharp suppression of the amplitude-frequency characteristic at the frequency of UAV bending vibrations with minimal phase distortions in the control band of the longitudinal and lateral channels of the stabilization system can significantly complicate the task of researching the stability of the UAV motion control system. The article discusses an electric drive prototype with a digital microcontroller, designed for a highly maneuverable UAV. Adaptive algorithms of the digital controller make it possible to provide the necessary phase delays in the control frequency band and at the same time almost completely suppress the harmonic components of the control signals at the frequencies of the bending vibrations of the UAV body. The algorithms are essentially nonlinear in nature and are based on a change in the gain of the direct circuit of the drive depending on the frequency of the input signal, which greatly complicates the calculation of the transfer function of the steering drive for use in the frequency model of the stabilization system. Generally, the steering drive is described by a linear minimum-phase system, presented as a transfer function of one of the typical blocks of the first or second order, but for the specified steering drive with given dynamic characteristics, this approach is untenable. As a result of the study, a method for obtaining a frequency model of the steering drive is proposed, which is implemented as a non-minimum phase system, the main property of which is the independence of the amplitude-frequency and phase-frequency characteristics. In the process of research, the results obtained on the proposed model are compared with the results of experiments on a drive prototype and its complete non-linear time model. The main advantage of the proposed frequency model is a fairly simple description of the steering drive in the frequency domain, convenient for use as part of the frequency model of the stabilization system in the study of problems of ensuring the stability of UAV flight.

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13

Skurikhin, V., K. Soroka, and I. Aharkov. "Mathematical modeling of the electric power steering system of a vehicle with a worm drive." Lighting engineering and power engineering 3, no. 59 (November 27, 2020): 101–7. http://dx.doi.org/10.33042/2079-424x-2020-3-59-101-107.

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Анотація:

The complexity and variety of requirements imposed on modern cars have led to a variety of designs of steering amplifiers, which are based on various physical phenomena and patterns (mechanical, pneumatic, hydraulic, electrical, etc.). Despite the difference in design and operating principles, steering amplifiers of domestic and foreign production are based on a large number of complex components and parts, which reduces their reliability. In addition, due to the constant impact of amplifiers on the controlled wheels, the driver does not feel changes in the behavior of the car on the road when disturbing influences occur, which reduces traffic safety and can lead to an accident. Therefore, increasing the sensitivity of the steering wheel to adverse factors acting on the wheels of the car while driving is one of the important tasks of improving power steering system. Introduction of electric power steering systems for cargo and passenger vehicles with a load capacity of up to 20 tons. this is a very urgent problem. In contrast to power steering system, which is still used in the control systems of high-tonnage vehicles, electric power is much simpler in design, does not require much time and costs for operation and repair. Electric power steering system with worm drive, which has a gear ratio significantly higher than those used in passenger cars, is considered. For this purpose, the formula for calculating the active moment of resistance due to the angle of transverse inclination of the pin and the corresponding system of differential equations characterizing the electric power steering system with worm drive are derived. Based on this, a functional diagram of the electric power steering control system has been developed, which is unified for worm drive steering systems and can serve as a base for modeling the steering system of cargo and passenger vehicles.

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14

Megalingam, Rajesh Kannan, Deepak Nagalla, Ravi Kiran Pasumarthi, Vamsi Gontu, and Phanindra Kumar Allada. "Angular Orientation of Steering Wheel for Differential Drive." Advances in Science, Technology and Engineering Systems Journal 5, no. 3 (2020): 275–83. http://dx.doi.org/10.25046/aj050336.

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15

Shevchenko, A. F., A. V. Komarov, O. I. Novokreschenov, and V. V. Mizevich. "Direct-drive electromechanical steering booster for passenger cars." Russian Electrical Engineering 78, no. 9 (September 2007): 478–80. http://dx.doi.org/10.3103/s1068371207090064.

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16

Lee, J. H., H. T. Moon, and J. Y. Yoo. "Current sensorless drive method for electric power steering." International Journal of Automotive Technology 13, no. 7 (December 2012): 1141–47. http://dx.doi.org/10.1007/s12239-012-0117-1.

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17

Стельмащук, С. В. "Steering drive operation in tracking and positional mode." MORSKIE INTELLEKTUAL`NYE TEHNOLOGII), no. 2(52) (June 20, 2021): 73–79. http://dx.doi.org/10.37220/mit.2021.52.2.055.

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Анотація:

В статье рассматривается система управления электромеханическим рулевым приводом, работающим в двух режимах: позиционирование угла руля с заданной скоростью перекладки и слежение сигнала управления от системы «Авторулевой». Исследовались суда различной длины. Показано, что качество переходных процессов угла поворота руля судна несущественно зависит от осадки и скорости судна. Коэффициент гибкой обратной связи для режима позиционирования угла поворота руля определяется заданием скорости и требуемого угла перекладки. Вычисление коэффициента гибкой обратной связи осуществляется интерполяционным способом на основе данных полученных решением системы уравнений. В статье также приводится вывод данной системы уравнений. Режим слежения реализуется заданием максимальной скоростью перекладки в той же структурной схеме системы управления. Это приводит к унификации системы управления рулевым приводом. Выведены точность и ограничения по скорости и ускорению угла поворота для следящего режима. Показано, что в режим слежения с учетом ограничений выполняется с высокой точностью, что делает возможным реализацию программного управления рулевым приводом. Предполагается использовать данную систему унифицированного управления в судах с беспилотным управлением. The article considers the control system of an electromechanical steering drive operating in two modes: positioning the steering angle with the required speed of shifting and tracking the control signal from the "Autopilot" system. Ships of various lengths were analyzed. It is shown that the quality of the transients of the ship's rudder angle does not significantly depend on the draft and speed of the ship. The coefficient of flexible feedback for the steering angle positioning mode is determined by setting the speed and the required angle of shifting. The flexible feedback coefficient is calculated using an interpolation method based on the data obtained by solving a system of equations. The article also provides a conclusion of this system of equations. The tracking mode is realized by setting the maximum speed of the shift in the same block diagram of the control system. This results in a unified steering control system. The accuracy and limits on the speed and acceleration of the angle of rotation for the tracking mode are derived. It is shown that the tracking mode, taking into account the limitations, is performed with high accuracy, which makes it possible to realize the program control of the steering drive. It is assumed to use this unified control system in ships with drone control.

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18

Gu, Peng, Guo Biao Shi, and Yi Lin. "Study on Mechanism of Active Front Steering Based on Harmonic Drive." Applied Mechanics and Materials 274 (January 2013): 17–22. http://dx.doi.org/10.4028/www.scientific.net/amm.274.17.

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Анотація:

The steering ratio of vehicle can be changed by attaching a angle, Changing the steering gear ratio can improve the safety in high-speed and comfort in low-speed and the vehicle steering stability. The paper introduces an active front steering system (AFS) based on harmonic drive, the composition and working principle of the system are analyzed, and the kinematic analysis of the system is researched, finally, the self-control mechanism and integrated control mechanism with other stability system are studied.

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19

Li, Zhuo, and Shou Zheng Ming. "A New Control Strategy of Electric-Wheel Drive Vehicles." Advanced Materials Research 211-212 (February 2011): 715–19. http://dx.doi.org/10.4028/www.scientific.net/amr.211-212.715.

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Анотація:

The steering radius and the vehicle velocity is utilized to control the drive force and steering angle of each electric-wheel in this essay. In order to improve the characteristics of vehicle, a dynamic simulation was made with the predictions of constant velocity and radius to the vehicle model with the R-v control strategy. This simulation proves that the characteristics of vehicle steering will be better with the utilization of this control strategy.

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20

Shoucri, Andre, Emmanuel Resch, Egbert de Groot, Jean-Philippe Drouin-Bouffard, Alexei Morozov, and Howard Jones. "DUAL-AXIS DRIVE FOR A MARS ROVER." Transactions of the Canadian Society for Mechanical Engineering 31, no. 4 (December 2007): 547–57. http://dx.doi.org/10.1139/tcsme-2007-0040.

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Conventional Mars rover designs incorporate complicated drive systems. In order to reduce weight, complexity and power consumption, it may be beneficial to consolidate the orthogonal functions of wheel-walking and steering into a single drive. The simultaneous operation of both steering and wheel-walking is not required. This paper demonstrates the concept of a dual-axis drive through the design and construction of a scaled prototype. The final design is novel in employing a linear actuator which is eccentric to both axes of motion. A switching and locking mechanism provides transfer between the two different functions at multiple angular positions.

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21

Ma, Xiao Jun, Jian Qiang Su, Yu Xiang, Xiang Pu Ji, and Ming Jie Hou. "Co-Simulation Research of In-Wheel Motor Drive Vehicle Steering Control." Applied Mechanics and Materials 415 (September 2013): 578–81. http://dx.doi.org/10.4028/www.scientific.net/amm.415.578.

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Aiming at the steering special requirement of in-wheel motor drive wheeled vehicle, the dual-steering control is adopted. The target of control system is the vehicle yaw rate, and active disturbance rejection controller is designed. Yaw moment torque is produced by adjusting the both sides of motor torque output to achieve the target of reference yaw rate. The vehicle kinetics model is built in the Adams, and the co-simulation model is designed base on the Adams and Matlab. The results of simulation demonstrate that the dual-steering control increased the vehicle outboard power output and decreased the steering radius, and improve the steering agility of the vehicle.

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22

Varga, Ádam, and Béla Lantos. "Predictive Control of Harmonic Drive in Automotive Application." Journal of Advanced Computational Intelligence and Intelligent Informatics 11, no. 9 (November 20, 2007): 1165–72. http://dx.doi.org/10.20965/jaciii.2007.p1165.

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Анотація:

This paper addresses the predictive control of the harmonic drive in an automotive application. The goal of the control was to provide good steering feel for the driver and satisfactory tracking performance in a steering system. The paper presents the dynamic model of the harmonic drive, a design framework and a two step algorithm for predictive controller design. The elaborated model predictive controller is similar to a cascade type controller with constraints in the performance function to ensure closed loop stability and a useful compromise between torque tracking and position tracking. The controller was developed and implemented in a real-time environment for rapid prototype design using Matlab, Simulink, Real-Time Workshop and dSPACE AutoBox hardware, then it was experimentally tuned for best steering feel and good tracking performance.

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23

Li, Gang, Sucai Zhang, Lei Liu, Xubin Zhang, and Yuming Yin. "Trajectory Tracking Control in Real-Time of Dual-Motor-Driven Driverless Racing Car Based on Optimal Control Theory and Fuzzy Logic Method." Complexity 2021 (April 29, 2021): 1–16. http://dx.doi.org/10.1155/2021/5549776.

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Анотація:

To improve the accuracy and timeliness of the trajectory tracking control of the driverless racing car during the race, this paper proposes a track tracking control method that integrates the rear wheel differential drive and the front wheel active steering based on optimal control theory and fuzzy logic method. The model of the lateral track tracking error of the racing car is established. The model is linearized and discretized, and the quadratic optimal steering control problem is constructed. Taking advantage of the differential drive of dual-motor-driven racing car, the dual motors differential drive fuzzy controller is designed and integrated driving with active steering control. Simulation analysis and actual car verification show that this integrated control method can ensure that the car tracks different race tracks well and improve the track tracking control accuracy by nearly 30%.

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24

Wang, Junnian, Xiandong Wang, Zheng Luo, and Francis Assadian. "Active Disturbance Rejection Control of Differential Drive Assist Steering for Electric Vehicles." Energies 13, no. 10 (May 22, 2020): 2647. http://dx.doi.org/10.3390/en13102647.

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Анотація:

The differential drive assist steering (DDAS) system makes full use of the advantages of independent control of wheel torque of electric vehicle driven by front in-wheel motors to achieve steering assistance and reduce the steering effort of the driver, as the electric power steering (EPS) system does. However, as an indirect steering assist technology that applies steering system assistance via differential drive, its linear control algorithm, like existing proportion integration differentiation (PID) controllers, cannot take the nonlinear characteristics of the tires’ dynamics into account which results in poor performance in road feeling and tracking accuracy. This paper introduces an active disturbance rejection control (ADRC) method into the control issue of the DDAS. First, the third-order ADRC controller of the DDAS is designed, and the simulated annealing algorithm is used to optimize the parameters of ADRC controller offline considering that the parameters of ADRC controller are too many and the parameter tuning is complex. Finally, the 11-DOF model of the electric vehicle driven by in-wheel motors is built, and the standard working conditions are selected for simulation and experimental verification. The results show that the ADRC controller designed in this paper can not only obviously reduce the steering wheel effort of the driver like PID controller, but also have better nonlinear control performance in tracking accuracy and smooth road feeling of the driver than the traditional PID controller.

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25

Yang, Chao Zhen, and Shi Quan Zhang. "Walking System Design on Land Auto-Mobile Agriculture Spraying Robots." Applied Mechanics and Materials 37-38 (November 2010): 1638–42. http://dx.doi.org/10.4028/www.scientific.net/amm.37-38.1638.

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Анотація:

This paper applies terrain vehicle mechanics theory to analyze and solve the traffic-ability characteristic of the field-steering spraying robots, to guide the walking system design and selection of walking wheels. The presented four-motor-drive plan, which is based on the comprehensive analysis of power, steering, driving and control system, could conveniently realize four-wheel steering and four-wheel drive. This plan had the characteristics of simple structure, reliability and flexible control, comprehensively resolved the key technique of robots operation. It is of a high reference value for the design and research of the auto-mobile robots walking mechanism and control system.

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26

Mao, Xu, Xin Wang, Jun Chao Zhang, Kai Chen, Jiang Zhao, and Yu Zhang. "Design of Electric Orchard Vehicle Four-Wheel Steering Control System." Advanced Materials Research 753-755 (August 2013): 1966–69. http://dx.doi.org/10.4028/www.scientific.net/amr.753-755.1966.

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Nowadays, the operation of orchard vehicle which is used in China has the disadvantages such as single function poor automation level etc. Therefore, it can hardly adapt to the complex environment in orchard. The electric vehicle that powered by electrical drive motor can not only save energy, but also achieve the goal of controlling more conveniently and efficiently. Some electrical vehicles in China can take a variety of steering modes. However, most orchard vehicles lack of targeted terrain design. Electric four-wheel independent drive and steering vehicles have strongly strengthened this weakness. This paper uses four-wheel independent drive & four-wheel independent steering structure and completes the design of the control system. The aim is to achieve five different orchard vehicle driving modes which based on microcontroller system, real-time feedback and achieve differential speed calculating model through the multi-channel sensor in the steering modes. Thus, it can ensure the slip angle within the allowable range and driving stability. It also proposes the design & manufacturing of wireless remote control device and operation panel in order to simplify drivers operation and increase the efficiency.

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27

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, no. 03 (April 10, 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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28

Chen, Yong, and Jing Jing Xia. "Research on Design Methods and Experiments of the Electro-Hydraulic Power Steering Pump." Advanced Materials Research 986-987 (July 2014): 1125–28. http://dx.doi.org/10.4028/www.scientific.net/amr.986-987.1125.

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In order to improve the performance of vehicle steering system and reduce the system energy consumption, the structure and operation principle of an electro-hydraulic power steering (EHPS) system with a electro-hydraulic steering pump are described, on this basis, with the function requirement of steering system, and by using vehicle design and fluid drive theory, the design method of this electro-hydraulic steering pump and its matching with the vehicle are presented. Through building electro-hydraulic steering pump test platform to test its performance parameters, the results prove the correctness and effectiveness of this kind of design method, provide the basis for subsequent development of the electronic control system.

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29

Hiramine, Mikihiro, Yoshitaka Hayashi, and Takashi Suzuki. "2-Drive Motor Control Unit for Electric Power Steering." SAE International Journal of Passenger Cars - Electronic and Electrical Systems 10, no. 2 (March 28, 2017): 337–44. http://dx.doi.org/10.4271/2017-01-1485.

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30

JIANG, Jihai, Wenhai SU, and Qinghe LIU. "DIRECT DRIVE ELECTRO-HYDRAULIC SERVO ROTARY VANE STEERING GEAR." Proceedings of the JFPS International Symposium on Fluid Power 2008, no. 7-2 (2008): 369–73. http://dx.doi.org/10.5739/isfp.2008.369.

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31

Stelmashchuk, Sergei V., and Kyaw Ye Han. "SYNTHESIS OF FLEXIBLE FEEDBACK OF STEERING DRIVE OF SHIP." Scholarly Notes of Komsomolsk-na-Amure State Technical University 1, no. 34 (June 25, 2018): 4–15. http://dx.doi.org/10.17084/iii-1(34).1.

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32

Hirose, Yoshiyuki. "323 Start and Steering Control by Traction Drive CVT." Proceedings of the Symposium on Motion and Power Transmission 2007 (2007): 280–81. http://dx.doi.org/10.1299/jsmempt.2007.280.

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33

Hoshishima, Kazuteru, Kohji Oka, Masakata Hashimoto, Yoshio Ooki, Masafumi Hashimoto, and Fuminori Oba. "1015 Control of Multiple Swivel Drive & Steering AGV." Proceedings of Conference of Chugoku-Shikoku Branch 2001.39 (2001): 379–80. http://dx.doi.org/10.1299/jsmecs.2001.39.379.

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34

Gao, Guangzong, Jixin Wang, Tao Ma, Wenzhong Liu, and Tianlong Lei. "Multistage Estimators for the Distributed Drive Articulated Steering Vehicle." Mathematical Problems in Engineering 2020 (October 1, 2020): 1–16. http://dx.doi.org/10.1155/2020/5921285.

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The distributed drive articulated steering vehicle (DDASV) has a broad application prospect in the field of special operations. It is essential to obtain accurate vehicle states for better effect of active control. DDASV dynamic model is presented. To improve robustness, an adaptive strong tracking algorithm is applied to the singular value decomposition unscented Kalman filter (SVDUKF). Divided by yaw rate sensors and the tire models, two multistage estimators are established for DDASVs. Stable steering condition is simulated to investigate the influence on the estimated accuracy about the sensors and tire models. The velocities and tire forces are the key parameters to be estimated. The performance of each estimator regarding the practicability and accuracy is compared. The results show that all estimators are practicable. However, the accuracy of the estimated velocities based on yaw rate sensors is better and the transient tire model can improve the accuracy of estimated lateral forces more effectively for the estimator established with yaw rate sensors.

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35

Zhu, Baoquan, Ying Lin, Qiang Zhao, Ying Du, and Lele Yu. "IDENTIFICATION AND VERIFICATION OF VEHICLE DRIVE AND STEERING PERFORMANCE." Journal of Physics: Conference Series 1972, no. 1 (July 1, 2021): 012106. http://dx.doi.org/10.1088/1742-6596/1972/1/012106.

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36

Mohamad, Amir Ashraf, Fadhlan Hafizhelmi Kamaru Zaman, and Fazlina Ahmat Ruslan. "Improving steering convergence in autonomous vehicle steering control." Indonesian Journal of Electrical Engineering and Computer Science 13, no. 1 (January 1, 2019): 279. http://dx.doi.org/10.11591/ijeecs.v13.i1.pp279-285.

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<p>Steering control is a critical design element in autonomous vehicle development since it will determine whether the vehicle can navigate safely or not. For the prototype of UiTM Autonomous Vehicle 0 (UiTM AV0), Vexta motor is used to control the steering whereas Pulse Width Modulation (PWM) signal is responsible to drive the motor. However, by using PWM signal it is difficult to converge to the desired steering angle and furthermore time taken for steering angle to converge is much longer. Thus, Proportional Integral Derivative (PID) has been introduced in this autonomous vehicle steering controller to improve the convergence of the steering. Meanwhile a microcontroller was used to control the Vexta Motor direction and perform the calculation of the desired steering angle. Simulation results showed PID controller showed better time taken and preicison of successful convergence of the desired steering angle compared to the PWM controller. Analysis results showed that PID controller significantly reduce the overshooting of steering angle and significantly improve the time taken for convergence by up to 37 seconds faster than PWM controller in UiTM AV0.</p>

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37

Tanaka, Yoshiyuki, Ryoma Kanda, Naoki Yamada, Hitoshi Fukuba, Ichiro Masamori, and Toshio Tsuji. "Virtual Driving Simulator for Measuring Dynamic Properties of Human Arm Movements." Journal of Robotics and Mechatronics 18, no. 2 (April 20, 2006): 177–85. http://dx.doi.org/10.20965/jrm.2006.p0177.

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This paper presents a virtual driving simulator using robotic devices as an example of human-machine systems to investigate dynamic properties of human movements in the operation of drive interfaces, such as steering wheels and transmission shifters. The simulator has virtual steering and transmission systems under variable impedance control, providing the operators with realistic operational response. Mechanical impedance parameters around the steering rotational axis were measured to demonstrate the effectiveness of the developed simulator.

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38

Liu, Ming Chun, Chen Ning Zhang, and Zhi Fu Wang. "Research on the Influence of Unsprung Mass on Vehicle Handling Stability." Advanced Materials Research 562-564 (August 2012): 816–20. http://dx.doi.org/10.4028/www.scientific.net/amr.562-564.816.

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A dynamical model of engine vehicle was built by using ADAMS/Car. Based on that, another dynamical model of four-independent-wheel-drive electric vehicle was built too. Two simulation experiments of steering wheel angle step input and steering wheel angle impulse input were done. Considering the vehicle mathematical model with two linear degrees of freedom, the transient response and frequency response characteristics were evaluated. Simulation results indicated that time-domain and frequency-domain characteristics of four-independent-wheel-drive electric vehicle were influenced because of its heavy unsprung mass, and that leaded to the deteriorative handling stability.

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39

Qiu, Hao, and Song Feng Liang. "A Coordinative Steering Control Method Based on PID Compensation for an Electric Vehicle." Applied Mechanics and Materials 644-650 (September 2014): 475–84. http://dx.doi.org/10.4028/www.scientific.net/amm.644-650.475.

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This paper presents a coordinating steering control method in an Electric Vehicle with Four-in-Wheel-Motors Drive and Four-Wheel Independent Steering. This control method applied a PID compensation to solve the absonant steering problem. This research builds a mathematic model for the control system and uses the Matlab simulation to verify the feasibility and control effect. Then it is applied in a real car environment for further experiment in which the paper studies the control effect with varied control parameters. According to the analysis of the experiment, a practical solution for steering System is proposed with excellent control effect.

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40

Zhu, Chenhui, Hongmei Zhang, Wanzhang Wang, Kang Li, and Wanru Liu. "Robust control of hydraulic tracked vehicle drive system based on quantitative feedback theory." International Journal of Distributed Sensor Networks 16, no. 2 (February 2020): 155014772090783. http://dx.doi.org/10.1177/1550147720907832.

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To improve the control precision of the drive system of hydraulic tracked vehicles, we established a mathematical model of the drive system based on the analysis of structural characteristics of the high-clearance hydraulic tracked vehicles and the dual-pump dual-motor drive system and developed a control strategy based on the quantitative feedback theory. First, the mutual independence of the two motor channels was achieved through channel decoupling. Then, the loop-shaping controller and the pre-filter were designed for the two channels. The result of a simulation experiment indicates that the proposed control method is very effective in suppressing external uncertainties and smoothening the speed-switching process of the hydraulic motor. Finally, an hydraulic tracked vehicle steering experimental test was carried out. The results show that under two different steering modes, the maximum standard deviation of the output speeds of the inner and outer motors of the hydraulic tracked vehicle is only 0.42, which meets the performance requirement on the hydraulic motor speed. The average steering track radii of the geometric centers of the inner and outer tracks are 1.828 and 0.033 m, respectively, and the relative errors are 1.56% and 3.19%, respectively. This demonstrates that the proposed control method achieves satisfactory results in the robust control of the hydraulic tracked vehicle drive system. It provides some references for the future control research of the hydraulic servo drive system of the high-clearance hydraulic tracked vehicles.

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41

Bröcker, M. "New control algorithms for steering feel improvements of an electric powered steering system with belt drive." Vehicle System Dynamics 44, sup1 (January 2006): 759–69. http://dx.doi.org/10.1080/00423110600885780.

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42

Zhang, Jie, Zu Yao Yu, and Su Hua Lou. "Development of Orthogonal Electric Steering Loading System." Applied Mechanics and Materials 764-765 (May 2015): 685–90. http://dx.doi.org/10.4028/www.scientific.net/amm.764-765.685.

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Based on the model of electric direct drive motor, the development of a steering loading system is presented, and the effect of the rotation speed and system rigidity on the surplus torque of a certain steering loading system is analyzed. Compromising system rigidity is needed both to buffer the surplus torque caused by target motion and to maintain system bandwidth and responsibility.

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43

Su, Wen Hai, and Ji Hai Jiang. "Direct Drive Volume Control Electro-Hydraulic Servo Ship Rudder." Key Engineering Materials 439-440 (June 2010): 1388–92. http://dx.doi.org/10.4028/www.scientific.net/kem.439-440.1388.

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Direct drive volume control（DDVC）electro-hydraulic servo system has synthesized the advantages of high power of hydraulic system and flexible control of the motor. It also has other features such as energy saving, high efficiency, small bulk and high reliability. On the background for application to the ship steering system, DDVC electro-hydraulic servo system for the control actuator of ship is designed and the mathematic model is made and simulated with Matlab/Simulink. The steering gears closed-loop system’s simulation obtained the perfect dynamic performances; verify the correctness of the design with its control strategy. It can satisfy the ships request of boat to steering gears system and the DDVC electro-hydraulic servo system will be a extensive prospective power equipment of the control actuator of ship in future.

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44

Kitagawa, Hideo, Takashi Ohno, Takanori Miyoshi, and Kazuhiko Terashima. "Development of Differential-Drive Steering System for Omnidirectional Mobile Robot." Journal of the Robotics Society of Japan 27, no. 3 (2009): 343–49. http://dx.doi.org/10.7210/jrsj.27.343.

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45

FAN Mu-wen, 凡木文, 黄林海 HUANG Lin-hai, 李梅 LI Mei, and 饶长辉 RAO Chang-hui. "High-voltage drive and control for piezoelectric fast steering mirror." Optics and Precision Engineering 23, no. 10 (2015): 2803–9. http://dx.doi.org/10.3788/ope.20152310.2803.

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46

Nabb, Alec T., Madeline Frank, and Marvin Bentley. "Smart motors and cargo steering drive kinesin-mediated selective transport." Molecular and Cellular Neuroscience 103 (March 2020): 103464. http://dx.doi.org/10.1016/j.mcn.2019.103464.

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47

CHEN, WuWei, XiaoWen SUN, and HongBo WANG. "Extension coordinated control of automotive differential drive assisted steering system." SCIENTIA SINICA Technologica 47, no. 3 (February 16, 2017): 324–35. http://dx.doi.org/10.1360/n092016-00271.

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48

Canudas-De-Wit, C., and P. Billot. "Human-Friendly Control Design for Drive-By-Wire Steering Vehicles." IFAC Proceedings Volumes 34, no. 1 (March 2001): 59–64. http://dx.doi.org/10.1016/s1474-6670(17)34378-1.

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49

Moctar, Ould El, and Andreas Junglewitz. "Numerical Analysis of the Steering Capability of a Podded Drive." Ship Technology Research 51, no. 3 (July 2004): 134–45. http://dx.doi.org/10.1179/str.2004.51.3.005.

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50

Beregi, Sándor, Dánes Takács, Chaozhe R. He, Sergei S. Avedisov, and Gábor Orosz. "Hierarchical steering control for a front wheel drive automated car." IFAC-PapersOnLine 51, no. 14 (2018): 1–6. http://dx.doi.org/10.1016/j.ifacol.2018.07.189.

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