NDLI: Modeling, Analysis, and Control of a Four Wheel Steer-by-Wire System for Semi-Autonomous Ground Vehicles

Content Provider	The American Society of Mechanical Engineers (ASME) Digital Collection
Author	Ancha, Santosh Baviskar, Abhijit Wagner, John Dawson, Darren
Copyright Year	2004
Abstract	Hybrid ground vehicles have motivated electric and steer-by-wire steering system technology due to restrictions on power source availability. Although these two steering systems are efficient, flexible, and environment friendly, the steer-by-wire system provides the opportunity for semi-autonomous and autonomous vehicle operation, as well as compliments a drive-by-wire architecture. For greater lateral vehicle performance, reduced maneuver transient time, and avoidance of undesirable vehicle motions through combined traction and steering control, a four wheel steering assembly with front and rear steering mechanism can uniformly control the wheels’ steering angle. In this paper, mathematical models will be developed for a front and rear rack and pinion steer-by-wire system. Accompanying linear and nonlinear controllers will be designed for operator commanded tracking by adjusting the three servo-motor assemblies. Representative numerical results are presented and discussed to support the evaluation of the four-wheel steering systems for sinusoidal and impulse-like steering maneuvers. The simulated vehicle four wheel steer-by-wire system results demonstrated better performance compared to the front steer-by-wire system.
Sponsorship	Dynamic Systems and Control Division
Starting Page	163
Ending Page	171
Page Count	9
File Format	PDF
ISBN	0791847063
DOI	10.1115/IMECE2004-59214
Volume Number	Dynamic Systems and Control, Parts A and B
Conference Proceedings	ASME 2004 International Mechanical Engineering Congress and Exposition
Language	English
Publisher Date	2004-11-13
Publisher Place	Anaheim, California, USA
Access Restriction	Subscribed
Subject Keyword	Steering systems Wheels Control equipment Manufacturing Modeling analysis Wire Traction Servomotors Impulse (physics) Vehicles Transients (dynamics)
Content Type	Text
Resource Type	Article

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