Research on Stability and Coordination Control of Four-wheel Distributed Steering-by-wire System

doi:10.3901/JME.2024.10.425

Abstract

Abstract: Four separately controlled wheels on four-wheel distributed steer-by-wire vehicles can easily result in out-of-phase wheel rotation responses when driving, which can cause instability. A hierarchical four-wheel distributed steering system stability and coordination control approach is proposed. The upper layer calculates reference four wheel steering angles using a model predictive control method to track the ideal yaw rate and sideslip angle, accomplishing vehicle stability control. To actuate the reference wheel angles generated by the upper layer, the lower layer employs a super-twisting second-order sliding mode control method, which improves the actuator's response speed and precision while reducing the influence of disturbances. Through collaborative simulation using Carsim and Matlab/Simulink under various operating situations, the proposed stability and coordination control technique is validated. The results demonstrate that the proposed stability and coordination control strategy can effectively increase the stability of the four-wheel distributed steer-by-wire vehicle by reducing the tracking delay of the steering actuator when subjected to external disturbances and improving the tracking performance of the yaw rate and sideslip angle.

Key words: steer-by-wire, four-wheel distributed steering, model predictive control, sliding mode control, wheel steering angle tracking, coordination control

CLC Number:

U461

ZHANG Han, LIU Kaihua, WANG Chunyan, ZHAO Wanzhong, LUAN Zhongkai. Research on Stability and Coordination Control of Four-wheel Distributed Steering-by-wire System[J]. Journal of Mechanical Engineering, 2024, 60(10): 425-438.

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