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CSME 2021/06
Volume 42 No.3
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303-313
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Comprehensive control of steering and braking via a 4WIS-4WID vehicle
Yulong Leia, Guanzheng Wena, Xiaohu Genga, Yao Fua, Xingzhong Lia and Jianlong Hub
aState Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun, China.
bQingdao Automotive Research Institute, Jilin University, Qingdao, China.
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Abstract:
Four-wheel independent steering and four-wheel independent driving (4WIS–4WID) vehicles have multiple degrees of control freedom. Thus, these vehicles have considerable development potential. However, 4WIS–4WID vehicles easily cause coupling interference between the steering and braking systems. Such interference leads to remarkable difficulties in the design and optimisation of the control system. The comprehensive control of the two systems is realised on the basis of 4WIS–4WID vehicles in this paper. Such control solves the coupling problem between the two systems and achieves improved handling performance whilst guaranteeing the braking stability. This paper mainly includes two parts. Firstly, the linear two degrees-of-freedom model is regarded as a reference model, and a sliding-mode controller is designed to achieve good handling performance. Secondly, a neural network PID cooperative controller is designed to maintain braking stability whilst ensuring handling performance. Lastly, a Simulink/CarSim joint simulation is conducted to confirm the good performance of the proposed strategy.
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Keywords: sliding mode control, neural network PID control, comprehensive control strategy, 4WIS4WID.
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*Corresponding author; e-mail:
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©
2021
CSME , ISSN 0257-9731
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