Lecture_12_Four Wheel Steering书.ppt

Prof. You-Qun Zhao Prof. You-Qun Zhao Vehicle System Dynamics Professor You-Qun Zhao Lecture 12 Review and Outline Review of Previous Lecture Traction control systems Introduction Modeling and simulation Linear controller Rule based controller Sliding mode controller Vehicle dynamics (or vehicle stability) control Today’s topics Four Wheel Steering Modeling 4WS controller goals Simulation results FWS, RWS, 2WS, 4WS? Dynamic Modeling - 2 DoF, 2 State Lateral/yaw 2 DoF model with both front and rear steer angle inputs Dynamic Modeling - 2 DoF, 4 State Lateral/yaw 2 DoF model with both front and rear steer angle inputs, and lateral position, y, and yaw angle, y, states Basic Properties of FWS and RWS Vehicles The rear wheels are as effective as the front wheels in terms of yaw rate generation From the 2 DoF model, at steady state, by setting and eliminating v to solve for r one can see that the front and rear wheel steer angles have the same effect (opposite sign) on vehicle yaw rate: Ex. 9.1 Comparison of FWS and RWS yaw rate, r, frequency response Goals of Four Wheel Steering Up until recently, 4WS algorithms proposed were mostly feed-forward in nature. In other words, the rear wheel steering angle is a fixed function of front steering angle and forward speed, regardless of vehicle yaw rate and lateral acceleration response. The goals of 4WS are to Reduced vehicle side slip angle Reduced yaw rate and lateral acceleration phase difference Reduced low-speed turning radius Consistent steering response (model matching) Increased tire force reserve (especially on low friction surface) Goals of Four Wheel Steering (cont.) Most common: reduce steady state sideslip angle b (or equivalently v) to zero by adjusting the ratio of the rear wheel steer angle to the front wheel steer angle. Can be implemented easily. Ergonomics: the vehicle becomes easier to steer because it proceeds in the forward direction without any sideslip. Dynamics: less energy will be re