Table Of ContentVehicle Steer-by-Wire System and Chassis
Integration
Wanzhong Zhao
Vehicle Steer-by-Wire
System and Chassis
Integration
WanzhongZhao
CollegeofEnergyandPowerEngineering
NanjingUniversityofAeronautics
andAstronautics
Nanjing,Jiangsu,China
ISBN 978-981-19-4249-5 ISBN 978-981-19-4250-1 (eBook)
https://doi.org/10.1007/978-981-19-4250-1
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Foreword
Theautomobileindustryisoneofthepillarindustriesofthenationaleconomy,with
long industrial chain, high correlation, wide employment and large consumption,
which plays an important role in the national economic and social development.
Withtherapiddevelopmentofmodernautomobileinthedirectionofintelligence,
electrificationandwirecontrol,moreandmoreattentionhasbeenpaidtotheinde-
pendentdevelopment,design,analysisandtesttechnologyofvehiclesteer-by-wire
systemandchassisintegrationcontroltechnology.
Vehiclesteer-by-wiresystemanditsapplicationinchassisintegrationcontroltech-
nology is the key technology of intelligent driving and unmanned driving because
theirperformanceshavegreatinfluencesontheresponsespeedandcontrolprecision.
Differentfromthetraditionalsteeringsystem,thesteer-by-wiresystememployselec-
tricorelectric-hydraulicactuatortogeneratethesteeringangleorsteeringfeedback
torque,whicharedecidedbyelectriccontrolunitbasedonvehiclereal-timedriving
condition.Thisby-wirecontrolapproachrealizestheforceanddisplacementdecou-
plingcontrolofsteeringsystem,thenthevehiclemaneuverabilitycanbeimproved.
Thesteeringsystemandotherpartsofchassisareinterrelatedandcoupled,thusthe
steer-by-wiresystemmakesitmoreeasilytoaccomplishthechassisintegratecontrol
technology,whichcansignificantlyimprovetheoverallperformanceofthevehicle
to meet the power, economy, smoothness and easy maneuverability requirements,
facilitatingthelandingofintelligentandunmanneddrivingvehicle.
This book introduces many kinds of existing steer-by-wire system and their
application in chassis integration control technology, including its structure prin-
ciple, mathematical model, optimization design, control strategy and other related
content.Thebookisconsistedofeightchapters,includingactivesteering,frontwheel
steer-by-wire steering, differential steering, electro-hydraulic compound steering,
distributed steer-by-wire steering and the chassis integrated optimization, active
collisionavoidancecontrolandactiveanti-rollovercontrolbychassisintegration.
The chief editor of this book is Prof. Wanzhong Zhao, and the associate editor
of this book is Dr. Han Zhang, both from Nanjing University of Aeronautics and
Astronautics. Thanks for the materials provided by Zhang Zijun, Chen Qingyun,
ZhouChangzhi,LiuChang,XuKunhaoetc.intheprocessofwritingthebookandfor
v
vi Foreword
thelanguagetranslationwork.Thecontentinthisbookinvolvestheresearchresults
of doctoral and master’s thesis and has received strong support from all teachers
andgraduatestudentsintheresearchgroup.Wewouldliketoexpressourheartfelt
thanks.Besides,manydocumentswerecitedinthewritingprocess,andwewould
liketothanktheauthorsoftherelevantreferencesagain.
Duetothelimitedleveloftheauthors,itisinevitablethattherearesomeimpro-
prieties in the book. Please feel free to contact us, if you encounter any problems
duringthereading.
Nanjing,China WanzhongZhao
HanZhang
Contents
1 ActiveSteeringSystem .......................................... 1
1.1 Overview .................................................. 1
1.1.1 StructurePrincipleofActiveSteeringSystem ............ 2
1.1.2 ActiveSteeringSystemCharacteristics .................. 3
1.1.3 GlobalResearchontheActiveSteeringSystem .......... 3
1.2 AutomotiveDynamicModel ................................. 6
1.2.1 DynamicModelsoftheAutomobileActiveSteering
System ............................................. 7
1.2.2 TireModel .......................................... 12
1.2.3 TheTwoDegreesofFreedomVehicleModel ............ 12
1.2.4 TheDriverModel .................................... 14
1.3 ResearchonControlStrategyofDisplacementCharacteristics
ofActiveSteeringSystem ................................... 17
1.3.1 ActiveSteeringVariableTransmissionRatio ............. 17
1.3.2 VehicleStabilityControlBasedontheActiveSteering
System ............................................. 23
1.3.3 SimulationandAnalysisoftheControlSystem ........... 37
1.4 ResearchontheForceControlStrategyUndertheInfluence
oftheDisplacementCharacteristicsControl .................... 39
1.4.1 The Influence of Displacement Characteristics
ControlonSteeringFeel .............................. 40
1.4.2 DirectControlPolicyofSteeringWheelTorque .......... 44
1.4.3 SimulationandAnalysisoftheControlSystem ........... 57
References ..................................................... 59
2 Front-WheelSteer-By-WireSystem .............................. 61
2.1 Overview .................................................. 61
2.1.1 StructurePrincipleoftheFront-WheelSBWSystem ...... 61
2.1.2 Front-WheelSBWSystemCharacteristics ............... 63
2.1.3 GlobalResearchontheFront-WheelSBWSystem ........ 64
vii
viii Contents
2.2 Front-WheelSBWVehicleModel ............................ 71
2.2.1 SteeringWheelandSteeringShaftModel ............... 72
2.2.2 SteeringFeelMotorModel ............................ 73
2.2.3 SteeringMotorModel ................................ 74
2.2.4 RackandPinionModel ............................... 74
2.3 SteeringTorqueFeedbackControlofFront-WheelSBW
System .................................................... 75
2.3.1 Steering Torque Feedback Characteristics
andPlanningofFront-WheelSBWSystem .............. 75
2.3.2 Design of Steering Torque Feedback Controller
ofFront-WheelSBWSystem .......................... 88
2.3.3 SimulationResultsandAnalysisoftheControlSystem .... 93
2.4 TheStabilityControlofFront-WheelSBWSystem ............. 98
2.4.1 EstimationofYawRateandSideslipAngle .............. 98
2.4.2 Stability Control Strategy of Front-Wheel SBW
SystemBasedonEstimation ........................... 102
2.4.3 SimulationResultsandAnalysisoftheControlSystem .... 110
2.5 Fault-TolerantControlofFront-WheelSBWSystem ............ 120
2.5.1 SensorFaultAnalysis ................................. 121
2.5.2 SteeringExecutionModuleandVehicleJointState
EstimationMethodBasedonKalmanFilter .............. 122
2.5.3 ResearchonDynamicFaultDecisionThreshold .......... 124
References ..................................................... 126
3 DifferentialSteeringSystem ..................................... 129
3.1 Overview .................................................. 129
3.1.1 StructuralPrincipleoftheDifferentialSteeringSystem .... 129
3.1.2 DifferentialSteeringSystemCharacteristics ............. 131
3.1.3 ApplicationStatusofDifferentialSteeringSystem ........ 132
3.2 ModelingoftheDifferentialSteeringSystem ................... 133
3.2.1 TheSteeringSystemModel ........................... 134
3.2.2 TheDrivingMotorModel ............................. 135
3.2.3 TheVehicleModel ................................... 136
3.2.4 TheWheelModel .................................... 139
3.2.5 TheTireModel ...................................... 139
3.3 Coordination Control of Force and Displacement
oftheDifferentialSteeringSystem ............................ 141
3.3.1 PowerControloftheDifferentialSteeringSystem ........ 142
3.3.2 Coordinated ControlofPower andYawStability
oftheDifferentialSteeringSystem ..................... 151
3.3.3 SimulationandAnalysis .............................. 157
References ..................................................... 164
Contents ix
4 ElectroHydraulicHybridPowerSteeringSystem ................. 165
4.1 Overview .................................................. 165
4.1.1 Structure Principle of Electro Hydraulic Hybrid
PowerSteeringSystem ............................... 166
4.1.2 ElectroHydraulicHybridPowerSteeringSystem
Characteristics ....................................... 168
4.1.3 GlobalResearchontheElectroHydraulicHybrid
PowerSteeringSystem ............................... 169
4.2 Electro Hydraulic Hybrid Steering System and Vehicle
DynamicsModeling ........................................ 173
4.2.1 Electro Hydraulic Compound Steering System
andVehicleDynamicsModeling ....................... 173
4.2.2 VehicleDynamicsModel .............................. 181
4.2.3 DriverModel ........................................ 181
4.3 Multi-objectiveOptimizationDesignofParametersofElectro
HydraulicHybridSteeringSystem ............................ 182
4.3.1 PerformanceEvaluationIndexofElectroHydraulic
HybridSteeringSystem ............................... 182
4.3.2 Multi-objective Optimization Design of Electro
HydraulicHybridSteeringSystem ...................... 191
4.3.3 MOPSO/ad Algorithm Based on Adaptive
DecompositionMethod ............................... 194
4.3.4 OptimizationResultsandAnalysis ..................... 201
4.4 SteeringSenseConsistencyControlofElectroHydraulic
HybridSteeringSystem ..................................... 205
4.4.1 AnalysisofSteeringModeSwitchingProcess ............ 205
4.4.2 Steering Mode Switching and Steering Feel
CompensationStrategy ............................... 207
4.4.3 DesignofConsistentRobustControllerforSteering
ModeSwitching ..................................... 211
4.4.4 SimulationAnalysisofControlSystem ................. 217
4.4.5 TestVerification ..................................... 221
References ..................................................... 225
5 DistributedSteer-By-WireSystem ............................... 227
5.1 Overview .................................................. 227
5.1.1 StructuralPrincipleoftheDistributedSteer-By-Wire
System ............................................. 227
5.1.2 DistributedSteer-By-WireSystemCharacteristics ........ 228
5.1.3 GlobalResearchontheDistributedSteer-By-Wire
System ............................................. 229
5.2 DistributedSBWSystemModel .............................. 232
5.2.1 DistributedSBWSystemModel ....................... 232
5.2.2 VehicleModel ....................................... 236
5.2.3 DriverModel ........................................ 238
x Contents
5.3 DistributedSBWSystemStabilityControlStrategy ............. 240
5.3.1 VehicleStabilityControlOverallArchitecture ............ 240
5.3.2 DistributedSBWSystemIntegratedControllerDesign .... 241
5.3.3 SimulationResultsandAnalysis ....................... 257
5.4 DistributedSBWSystemSteeringFeelSimulationStrategy ...... 262
5.4.1 Overall Framework of Distributed SBW System
SteeringFeelSimulation .............................. 262
5.4.2 DataCollectionandProcessing ........................ 263
5.4.3 TrainingofDistributedSBWSystemSteeringFeel
PredictionModel .................................... 272
5.4.4 DistributedSBWSystemSteeringTorqueFeedback
Control ............................................. 275
5.4.5 SimulationResultsandAnalysis ....................... 279
References ..................................................... 281
6 Integrated Optimization of Differential Steering Chassis
byWire ....................................................... 283
6.1 Overview .................................................. 283
6.1.1 Structure Principle of Chassis Integrated System
ofDifferentialSteer-by-Wire .......................... 284
6.1.2 GlobalResearchonOptimizationMethodsforChassis
IntegratedSystemofDifferentialSteer-by-Wire .......... 286
6.2 Chassis Integrated System of DifferentialSteer-by-Wire
andVehicleDynamicsModeling .............................. 287
6.2.1 VehicleDynamicsModel .............................. 288
6.2.2 ChassisSystemDynamicsModel ...................... 289
6.2.3 TireModel .......................................... 294
6.2.4 PavementInputModel ................................ 295
6.3 MultidisciplinaryOptimizationIndexofChassisIntegrated
SystemofDifferentialSteer-by-Wire .......................... 296
6.3.1 VehicleStability ..................................... 297
6.3.2 VehicleEndurance ................................... 302
6.3.3 DesignVariableSelection ............................. 304
6.4 DeterministicOptimizationDesignofChassisIntegrated
SystemofDifferentialSteer-by-Wire .......................... 308
6.4.1 OptimizationMethod ................................. 308
6.4.2 SystemLevelOptimizationModel ...................... 309
6.4.3 SubsystemLevelOptimizationModel ................... 311
6.4.4 OptimizationResultsandAnalysis ..................... 311
6.5 Uncertainty Optimization Design of Chassis Integrated
SystemofDifferentialSteer-by-Wire .......................... 316
6.5.1 UncertaintyOptimizationOverallFrameDesign .......... 317
6.5.2 AnalysisofUncertainFactors .......................... 319
