Modelling and control of a new differential steering concept

This paper presents a new steer-by-wire concept using an all-wheel drive vehicle layout with in-wheel motors while completely omitting the application of any dedicated steering device. Steering is based on the so-called differential steering principle which generates the necessary steering moment about the kingpins by a traction force difference between left and right sides of the vehicle. In order to investigate the behaviour of the vehicle and to design the underlying control algorithms, a planar vehicle model is presented, where the vehicle is described as constrained non-holonomic system requiring a special treatment. A state feedback linear controller for controlling of the lateral dynamics of the vehicle at higher speeds and a simple PI angle controller for low-speed manoeuvring are developed. The resulting behaviour of the system is investigated by various simulation experiments demonstrating a comparable steering performance of the new steering concept as that of conventional passenger cars.

• Record URL:
  • https://doi.org/10.1080/00423114.2018.1473616
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/00423114
• Supplemental Notes:
  • © 2018 Informa UK Limited, trading as Taylor & Francis Group. Abstract republished with permission of Taylor & Francis.
• Authors:
  • Kuslits, Márton
  • Bestle, Dieter
• Publication Date: 2019-4

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 520-542
• Serial:
  • Vehicle System Dynamics
  • Volume: 57
  • Issue Number: 4
  • Publisher: Taylor & Francis
  • ISSN: 0042-3114
  • EISSN: 1744-5159
  • Serial URL: https://www.tandfonline.com/toc/nvsd20/current

Subject/Index Terms

• TRT Terms: Automatic steering control; Computer models; Electric drives; Feedback control; Four wheel drive; Motor vehicle dynamics; Steering systems
• Uncontrolled Terms: In wheel motors
• Subject Areas: Data and Information Technology; Highways; Vehicles and Equipment;

Filing Info

• Accession Number: 01699020
• Record Type: Publication
• Files: TRIS
• Created Date: Mar 20 2019 10:39AM