Oscillatory Yaw Motion Control for Hydraulic Power Steering Articulated Vehicles Considering the Influence of Varying Bulk Modulus

Yu Gao, Yanhua Shen*, Tao Xu, Wenming Zhang, Levent Guvenc

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

36 Citations (Scopus)

Abstract

In this investigation, a detailed hydraulic steering system of articulated steer vehicles (ASVs) and a 12-DOF ASV model are developed for vehicle dynamics performance research. The real-time changing characteristic of oil bulk modulus is considered. Field test and multibody dynamics model by Adams/View software are compared with the established mathematical model, respectively, to verify the correctness of the model at low speed and high speed. The snaking and oscillatory area is confirmed to reveal the influence of varying bulk modulus on the stability of ASV. To improve the stability of ASV, the direct yaw moment control system and driving force distribution system are designed with the application of the optimal control theory. The upper level controller calculates the expected yaw moment by feedforward and feedback compensatory strategies. Different from zero-sideslip control in most studies, an Ackermann-based sideslip angle is used for feedforward compensatory gain derivation and reference model design. The lower level controller distributes the driving force for each wheel aiming at the optimal utilization rate of tires. High-speed weave test by sinusoidally steering for loaded ASV is simulated to verify the effectiveness of the control algorithms.

Original languageEnglish
Article number8310004
Pages (from-to)1284-1292
Number of pages9
JournalIEEE Transactions on Control Systems Technology
Volume27
Issue number3
DOIs
Publication statusPublished - May 2019
Externally publishedYes

Keywords

  • Articulated steer vehicle (ASV)
  • hydraulic steering
  • independent drive
  • snaking behavior
  • stability control

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