Steering Control Method of Four Wheel Independent Steering Vehicle Based on Dynamics and Instantaneous Center of Rotation Solver

Lai Xin; Chen Xinbo; Wu Xiaojun; Liang Dong

doi:10.13433/j.cnki.1003-8728.2016.1121

Volume 35 Issue 11

Nov. 2016

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Article Navigation > Mechanical Science and Technology for Aerospace Engineering > 2016 > 35(11): 1761-1767

Lai Xin, Chen Xinbo, Wu Xiaojun, Liang Dong. Steering Control Method of Four Wheel Independent Steering Vehicle Based on Dynamics and Instantaneous Center of Rotation Solver[J]. Mechanical Science and Technology for Aerospace Engineering, 2016, 35(11): 1761-1767. doi: 10.13433/j.cnki.1003-8728.2016.1121

Citation:

Lai Xin, Chen Xinbo, Wu Xiaojun, Liang Dong. Steering Control Method of Four Wheel Independent Steering Vehicle Based on Dynamics and Instantaneous Center of Rotation Solver[J]. Mechanical Science and Technology for Aerospace Engineering, 2016, 35(11): 1761-1767. doi: 10.13433/j.cnki.1003-8728.2016.1121

Citation:

Lai Xin, Chen Xinbo, Wu Xiaojun, Liang Dong. Steering Control Method of Four Wheel Independent Steering Vehicle Based on Dynamics and Instantaneous Center of Rotation Solver[J]. Mechanical Science and Technology for Aerospace Engineering, 2016, 35(11): 1761-1767. doi: 10.13433/j.cnki.1003-8728.2016.1121

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Steering Control Method of Four Wheel Independent Steering Vehicle Based on Dynamics and Instantaneous Center of Rotation Solver

doi: 10.13433/j.cnki.1003-8728.2016.1121

1.
School of Mechanical Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China;
2.
Clean Energy Automotive Engineering Center, Tongji University, Shanghai 201804, China

Received Date: 2015-01-07
Publish Date: 2016-11-05

Abstract

Abstract

In order to improve the steering control performance of four wheels independent steering (4WIS) vehicle, a two-degree of freedom dynamics model of 4WIS vehicle is established and the angle relationship between the four wheels and reference wheel is solved. The kinematics model of four wheels is built in the vehicle coordinate system, and the real-time kinematics error is obtained by solving the instantaneous center of rotation (ICR) of vehicle. Based on these models, a kind strategy named dynamics and kinematics compound control is proposed, the constraint relationship of steering angle between four wheels and reference wheel is got according to the dynamics calculation, through the network control system each wheel tracking the target trajectory independently and simultaneously, so the response speed of the steering control system is improved. The virtual connection of each wheel steering angle is established by real-time kinematical error, so the stability and robustness of steering control is improved by four wheels real-time coordinated motion. The simulation results show that vehicle dynamics requirements are met through the coordination control of wheels. At last, the experimental results show that the control strategy is effective.
- four wheel independent steering (4WIS),
- instantaneous center of rotation (ICR),
- kinematics error,
- compound control strategy

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References(15)

References

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