Wstępne studium problematyki sterowania w samochodach 4WS

• Autorzy: Faryński Jakub , Dębowski Andrzej , Żardecki Dariusz

Identyfikatory

DOI

10.5604/01.3001.0015.3835

Warianty tytułu

EN

Preliminary study on the issues of 4WS car control

• Języki publikacji: PL

Abstrakty

PL

Artykuł ma charakter przeglądowy i skupia się na problematyce sterowania samochodami 4WS (z czterema kołami skrętnymi). Przedstawiono najważniejsze idee dotyczące sterowania w pojazdach czterokołowych, rozwój historyczny, stan dzisiejszy i perspektywy konstrukcji samochodów 4WS. Omówiono w ujęciu systemowym całokształt zagadnień teoretycznych dotyczących sterowania kierunkiem ruchu pojazdu (w tym kwestie związane z modelowaniem matematycznym i badaniami symulacyjnymi ruchu pojazdu, kwestie syntezy i analizy algorytmów sterowania 4WS). Prezentowane studium oparte jest na dość bogatym przeglądzie literaturowym dotyczącym samochodów 4WS oraz na przemyśleniach kształtujących koncepcję rozprawy doktorskiej poświęconej algorytmom sterowania w samochodach 4WS.

EN

The article is an overview and it focuses on the control of 4WS cars (with four steered wheels). The most important ideas concerning the control of four-wheeled vehicles, the historical development, the present state and prospects for the construction of 4WS cars were presented. Theoretical issues related to the control of vehicle movement direction (including issues related to mathematical modelling and simulation studies of vehicle motion, synthesis and analysis of 4WS control algorithms) were discussed. The presented study is based on a fairly extensive literature review on 4WS cars and on thoughts that shaped the concept of the doctoral dissertation on control algorithms in 4WS cars.

Słowa kluczowe

PL

inżynieria mechaniczna; studia literaturowe; samochody 4WS; przegląd zagadnień; sterowanie kierunkiem ruchu pojazdu 4-kołowego

EN

mechanical engineering; literature studies; 4WS cars; review of issues; control of direction of movement of a 4-wheel vehicle

• Wydawca: Wojskowa Akademia Techniczna im. Jarosława Dąbrowskiego
• Czasopismo: Biuletyn Wojskowej Akademii Technicznej
• Rocznik: 2020
• Tom: Vol. 69, nr 4
• Strony: 95--113
• Opis fizyczny: Bibliogr. 71 poz., rys., schem., tab.

Twórcy

autor

Faryński Jakub

• Wojskowa Akademia Techniczna, Szkoła Doktorska, ul. gen. S. Kaliskiego 2, 00-908 Warszawa

• https://orcid.org/0000-0001-6515-0921

autor

Dębowski Andrzej

• Wojskowa Akademia Techniczna, Wydział Inżynierii Mechanicznej, ul. gen. S. Kaliskiego 2, 00-908 Warszawa

• https://orcid.org/0000-0003-1446-4415

autor

Żardecki Dariusz

• Wojskowa Akademia Techniczna, Wydział Inżynierii Mechanicznej, ul. gen. S. Kaliskiego 2, 00-908 Warszawa

• https://orcid.org/0000-0002-3934-2150

Bibliografia

• [1] Abe M., Ohkubo N., Kano Y., A Direct Yaw Moment Control for Improving Limit Performance of Vehicle Handling — Comparison and Cooperation with 4WS, Vehicle System Dynamics, Supplement 25, 1996, 3-23.
• [2] Abe M., Kano Y., Improvement of Vehicle Handling Safety with Vehicle Side-slip Control by Direct Yaw Moment, Vehicle System Dynamics, Supplement 33, 1999, 665-679.
• [3] Abe M., Vehicle dynamics and control for improving handling and active safety: from four-wheel steering to direct yaw moment control, Proc. I. Mech. E Part K., vol. 215, 1999, 87-101.
• [4] Ahring E., Mitschke M., Comparison of All-Wheel Steerings in the System Driver-Vehicle, Vehicle System Dynamics, vol. 24, no. 4-5, 1995, 283-298.
• [5] Allen R.W., Myers T.T., Rosenthal T.J., Vehicle Stability Considerations with Automatic and Four Wheel Steering Systems, SAE Papers 931979, 1993, 2191-2201.
• [6] Ariff M.H.M., Zamzuri H., Nordin M.A.M., Yahya W.J., Mazlan S.A., Rahman M.A.A., Control strategy for low speed and high speed four-wheel-active steering vehicle, Journal of Mechanical Engineering and Sciences, vol. 8, 2015, 1516-1528.
• [7] Chu T.W., Jones R.P., Whittaker M.T., A System Theoretic Analysis of Automotive Vehicle Dynamics and Control, Vehicle System Dynamics, Supplement 37, 2002, 83-95.
• [8] El Hajjaji A., Ciocan A., Hamad D., Four Wheel Steering Control by Fuzzy Approach, Journal of Intelligent and Robotic Systems, vol. 41, 2004, 141-156.
• [9] Esmailzadeh E., Vossoughi G.R., Goodarzi A., Dynamic Modeling and Analysis of a Four Motorized Wheels Electric Vehicle, Vehicle System Dynamics, vol. 35, no. 3, 2001, 163-194.
• [10] Fujita K., Ohashi K., Fukatani K., Kamei S., Kagawa Y., Mori H., Development of active rear steer system applying H∞-μ synthesis, SAE Paper 981115, 1998.
• [11] Furukawa Y., Yuhara N., Sano S., Takeda H., Matsushita Y., A review of four-wheel steering studies from the viewpoint of vehicle dynamics and control, Vehicle System Dynamics, vol. 18, 1989, 151-186.
• [12] Hac A., Bodie M.O., Improvements in vehicle handling through integrated control of chassis systems, International Journal of Vehicle Design, vol. 29, no. 1/2, 2002, 23-50.
• [13] Herold P., Wallbrecher M., All-Wheel Steering, [w:] Steering Handbook, Ed. Harrer M., Pfeffer P., Springer, 2017.
• [14] Horiuchi S., Yuhara N., Takei A., Two Degree of Freedom/H∞ Controller Synthesis for Active Four Wheel Steering Vehicles, Vehicle System Dynamic, Suplement 25, 1996, 275-292.
• [15] Horiuchi S., Yuhara N., An Analytical Approach to the Prediction of Handling Qualities of Vehicles with Advanced Steering Control System Using Multi-Input Driver Model, Transactions of the ASME, Journal of Dynamic Systems, Measurement, and Control, vol. 122, 2000, 490-497.
• [16] Horiuchi S., Okada K., Nontomi S., Stochastic Robustness Analysis and Synthesis of Nonlinear Vehicle Controller, Vehicle System Dynamic, Suplement 37, 2002, 183-196.
• [17] Inoue H., Sugasawa F., Comparison of Feedforward and Feedback Control for 4WS, Vehicle System Dynamic, vol. 22, no. 5-6, 1993, 425-436.
• [18] Jansen S.T.H., Van Oosten J.J.M., Development and Evaluation of Vehicle Simulation Models for a 4WS Application, Vehicle System Dynamics, vol. 24, 1995, 343-363.
• [19] Jia Y., Robust control with decoupling performance for steering and traction of 4WS vehicles under velocity-varying motion, IEEE Transactions on Control Systems Technology, vol. 8, no. 3, 2000, 554-569.
• [20] Jin X., Yin G., Chen N., Advanced Estimation Techniques for Vehicle System Dynamic State: A Survey, Sensors, vol. 19, no. 19, 2019, https://doi.org/10.3390/s19194289.
• [21] Jinlai M., Bofu W., Jie C., Comparisons of 4WS and Brake-FAS based on IMC for vehicle stability control, Journal of Mechanical Science and Technology, vol. 25, no. 5, 2011, 1265-1277.
• [22] Kaminaga M., Hedrick J.K., Adaptive Sliding Mode Control in the Presence of Saturating Tire Forces, JSME International Journal, Sere C, vol. 42, no. 2, 1999, 281-286.
• [23] Khunt H.A., A review paper on hydraulically actuated four wheel drive system, International Journal of Creative Research Thoughts, vol. 6, no. 1, 2018, 1116-1123.
• [24] Kim H., An On-line Learning Control of Unsupervised Neural Network for a Vehicle Four Wheel Steering System, SAE Papers 960938, 1996, 133-139.
• [25] Koresawa M., Shimosaka H., Study on a four wheel steering vehicle driven at an objective side slip angle, JSAE Review, vol. 15, 1994, 45-51.
• [26] Lee A.Y., Design of Stability Augmentation Systems for Automotive Vehicles, Transactions of the ASME. Journal of Dynamics Systems, Measurement, and Control, vol. 112, 1990, 489-495.
• [27] Lee A.Y., A Preview Steering Autopilot Control Algorithm for Four-Wheel-Steering Passenger Vehicles, Transactions of the ASME. Journal of Dynamics Systems, Measurement, and Control, vol. 114, 1992, 401-408.
• [28] Lee A.Y., Emulating the Lateral Dynamics of a Range of Vehicles using a Four-Wheel-Steering Vehicle, SAE Technical Papers 950304, 1995, 121-132.
• [29] Lee A.Y., Performance of Four-Wheel-Steering Vehicles in Lane Change Maneuvers, SAE Technical Papers 950316, 1995, 107-119.
• [30] Lee S.H., Lee U.K., Ha S.K., Han C.S., Four-Wheel Independent Steering (4WIS) System for Vehicle Handling Improvement by Active Rear Toe Control, JSME International Journal, Series C, vol. 42, no. 4, 1999, 947-956.
• [31] Lee S.H., Lee U.K., Han C.S., Enhancement of vehicle handling characteristics by suspension kinematic control, Proc. I. Mech. E. Part D, vol. 215, 2001, 197-216.
• [32] Lohith K., Shankapal S.R., Gowda M.H.M., Development of four wheel steering system for a car, SASTech Journal, vol. 12, no. 1, 2013, 90-97.
• [33] Lozia Z., Żardecki D., Dynamics of Steering System with Freeplay and Dry Friction — Comparative Simulation Investigation for 2WS and 4WS Vehicles, SAE Paper 2005-01-1261, 2005.
• [34] Lugner P., Plochl M., Additional 4WS and Driver Interaction, Vehicle System Dynamics, vol. 24, no. 8, 1995, 639-658.
• [35] Lugner P., Plochl M., Stability control of a passenger car by combined additional steering and unilateral braking, Vehicle System Dynamics, vol. 24, no. 8, 2002, 639-658.
• [36] Lv H.M., Chen N., Li P., Multi-objective H∞ optimal control for four-wheel steering vehicle based on a yaw rate tracking, Proc. I Mech. E. Part D. Journal of Automobile Engineering, 218(D10), 2004, 1117-1124.
• [37] Metz L.D., Dynamics of Four-Wheel-Steer Off-Highway Vehicles, SAE Papers 930765, 1993, 1193-1221.
• [38] Mitschke M., Comparison of the stability of Front and Rear Wheel Steered Motor Vehicles, Proc. of 6-th IAVSD Symposium, Berlin, 1979.
• [39] Mokhiamar O., Abe M., Active wheel steering and yaw moment control combination to maximize stability as well as vehicle responsiveness, Proc. I. Mech. E Part D, vol. 216, 2002, 115-124.
• [40] Nagai M., Ohki M., Theoretical study on active four-wheel-steering system by virtual vehicle model following control, International Journal of Vehicle Design, vol. 10, no. 1, 1989, 16-33.
• [41] Nagai M., Hirano Y., Yamanaka S., Integrated Robust Control of Active Rear Wheel Steering and Direct Yaw Moment Control, Vehicle System Dynamics, Supplement 28, 1998, 416-421.
• [42] Nakaya H., Oguchi Y., Characteristics of the four-wheel steering vehicle and its future prospects, International Journal of Vehicle Design, vol. 8, no. 3, 1987, 314-325.
• [43] Nalecz A.G., Bindemann A.C., Investigation into the stability of four wheel steering vehicles, International Journal of Vehicle Design, vol. 9, no. 2, 1988, 159-178.
• [44] Nalecz A.G., Bindemann A.C., Analysis of the Dynamic Response of Four Wheel Steering Vehicles at High Speed, International Journal of Vehicle Design, vol. 9, no. 2, 1988, 179-202.
• [45] Ono E., Hattori Y., Muragishi Y., Koibuchi K., Vehicle dynamics integrated control for four-wheel-distributed steering and four-wheel-distributed traction/braking systems, Vehicle System Dynamics, vol. 44, no. 2, 2006, 139-151.
• [46] Park J.H., H∞ Direct Yaw — moment Control with Brakes for Robust Performance and Stability of Vehicles, JSME International Journal, Series C, vol. 44, no. 2, 2001, 404-413.
• [47] Plochl M., Lugner P., Braking Behaviour of a 4-Wheel-Steered Automobile with an Antilock Braking System, Vehicle System Dynamics, Supplement 25, 1996, 547-558.
• [48] Plochl M., Lugner P., A 3-level driver model and its application to driving simulations, Vehicle System Dynamics, Supplement 33, 1999, 71-82.
• [49] Plochl M., Lugner P., Different actuation strategies for a yaw moment control of a passenger car, Vehicle System Dynamics, Supplement 35, 2001, 85-100.
• [50] Postalcioglu S., Improvement of Four Wheel Steering System, Journal of the Institute of Science and Technology, vol. 9, no. 4, 2019, 1876-1886.
• [51] Ossowski A., Samochody osobowe z czterema kołami sterowanymi, Autotechnika Motoryzacyjna, 4, 1988, 12-17.
• [52] Qu Q., Zu J.W., Variable structure model following control of four-wheel-steering vehicle, International Journal of Vehicle Design, vol. 37, no. 4, 2005, 291-310.
• [53] Senger K.H., Schwartz W., Kortum W., The influence of a four wheel steering system on the stability behaviour of a vehicle-driver system, 10 IAVSD Symposium, Praha, 1987, 186-193.
• [54] Shiotsuka T., Nagamatsu A., Yoshida K., Nagaoka M., Active Control of Drive Motion of Four Wheel Steering Car with Neural Network, SAE Papers 940229, 1994, 79-92.
• [55] Siahkairoudi V.N., Naraghi M., Time Delay Control of a 4WS Vehicle — A Comparison of Single and Dual Steering Control Strategies, SAE Paper 2002-01-1589, 2002, 1-7.
• [56] Siahkairoudi V.N., Naraghi M., Model Reference Tracking Control a 4WS Vehicle Using Single and Dual Steering Strategies, SAE Paper 2002-01-1590, 2002, 1-11.
• [57] Siahkairoudi V.N., Naraghi M., A Comparison between Zero Steady State Compensators and Optimal Control Regulators in a 4WS Vehicle, SAE Paper 2002-01-1591, 2002, 1-7.
• [58] Smith D.E., Benton R.E., Automated Emergency Four-Wheel-Steered Vehicle using Continuous Gain Equations, Vehicle System Dynamics, vol. 26, 1996, 127-142.
• [59] Song Y.G., Yoon Y.S., Feedback control of four wheel steering using time delay control, International Journal of Vehicle Design, vol. 19, no. 3, 1998, 282-298.
• [60] Spentzas K., Alkhazali I., Demic M., Kinematics of four-wheel-steering vehicles, Forschung im Ingenieurwesen, vol. 66, 2001, 213-216.
• [61] Sun C., Zhang X., Xi, L., Tian Y., Design of a Path-Tracking Steering Controller for Autonomous Vehicles, Energies, vol. 11, 2018, 1-17.
• [62] Szosland A., Fuzzy logic approach to four-wheel steering of motor vehicle, International Journal of Vehicle Design, vol. 24, no. 4, 2000, 350-359.
• [63] Wang Y.Q., Nagai M., Improvement of Vehicle Handling and Stability by an Integrated Four-Wheel-Steer and Yaw Moment Control System, SAE Papers 945073, 1994, 173-182.
• [64] Will A.B., Zak S.H., Modelling and Control of an Automated Vehicle, Vehicle System Dynamics, vol. 27, 1997, 131-155.
• [65] Vikas A., Willumeit H.P., Use of Fuzzy control Steering Concepts in Four Wheel Steered Vehicles, SAE Papers 945037, 1994, 183-192.
• [66] Yakub F., Abu A., Sarip S., Mori Y., Study of Model Predictive Control for Path-Following Autonomous Ground Vehicle Control under Crosswind Effect, Journal of Control Science and Engineering, vol. 2016, 2016, https://doi.ogr/10.1155/2016/6752671.
• [67] Yaniv O., Robustness to Speed of 4WS Vehicles for Yaw and Lateral Dynamics, Vehicle System Dynamics, vol. 27, no. 4, 1997, 221-234.
• [68] Yin G.D., Chen N., Wang J.X., Wu L.Y., A study on μ-synthesis control for four-wheel steering system to enhance vehicle lateral stability, Journal of Dynamic Systems, Measurement, and Control, vol. 133, no. 1, 2011, 1-6.
• [69] Yin G., Chen N., Li P., Improving Handling Stability Performance of Four Wheel Steering Vehicle via µ-Synthesis Robust Control, IEEE Transactions on Vehicular Technology, vol. 56, 2007, 2432- 2439.
• [70] Yu C.C., Liu T., Full control modes of a four-wheeled vehicle with zero body-sideslip angle and zero body motions, International Journal of Vehicle Design, vol. 38, no. 1, 2005, 79-95.
• [71] Strona internetowa: https://autokult.pl/10564,4ws-cztery-kola-skretne-historia-i-dzialanie-japonskiego-wynalazku [dostęp: 24.03.2021 r.].