The Control of the Braking Stability of Active Rear Wheel Steering Vehicle Based on LQR

Abstract:

The aim of this article is to improve the brake stability of active rear wheel steering vehicle. The optimal theory of linear quadratic regulator is used to construct a controller, and the aim of the controller is to maintain the side slip angle is zero, and the control parameter is set according to the change of velocity when braking. An antilock brake model based on the door limit of wheel slip rate is constructed. The analysis is carried on a front wheel steering vehicle, which has two kinds of unti-lock mode. Meanwhile, an active rear wheel steering vehicle with two kinds of unti-lock mode is performed, also. All tests are performed on the bisectional road. The results of analysis show that the active rear wheel steering vehicle using the anti-lock mode of four wheels independent control can give the shortest braking distance, the smaller side slip angle and the smaller deviation from the lane. So it can give more contribution to the braking safety.

• Periodical: Applied Mechanics and Materials (Volumes 416-417)
• Pages: 909-913
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.416-417.909
• Online since: September 2013
• Authors: Qi Jia Liu, Si Zhong Chen
• Keywords: Active Rear Wheel Steering Vehicle, Anti-Lock Brake System, Linear Quadratic Regulator

References

[1] Zhou Zhili, Xu Liyou, in: The theory and structure of ABS on automobile, edited by China Machine PRESS, Beijing, 2011, in press.

[2] Jing H Y, Liu Z Y, Chen H: A Switched Control Strategy for Antilock Braking System With On/Off Valves, IEEE Transactions on Vehicular Technology, vol. 60, no. 4, 2010, pp.1470-1484.

DOI: 10.1109/tvt.2011.2125806

[3] Liu Xiangui, Chen Wuwei: Hard-in-loop Analysis on Vehicle EPS/ABS Using Integrated Control Strategy, TRANSACTIONS OF THE CHINESE SOCIETY FOR AGRICULTURAL MACHINERY, vol. 42, no. 2, 2011, pp.8-13.

[4] Lei Xiaofeng: The innovation of active steering system in improving the performance of automobile, Shanghai Automobile, vol. 8, 2005, pp.36-38.

[5] Yu Zhisheng, in: Theory of automobile, edited by China Machine PRESS, Beijing, 2001, in press.

[6] Guo Konghui, in: Vehicle Handling Dynamics, edited by Jilin science and Technology Press, Changchun , 1991, in press.

[7] Anthony B. Will et al: Four wheel Steering Control System Design Using Fuzzy Model, Proceedings of the 1997 IEEE International Conference on Control Applications, 1997, pp.73-78.

DOI: 10.1109/cca.1997.627476

[8] Du Feng, Wei Lang: Optimization control of four-wheel steering vehicle based on state feedback, Journal of Chang'an University (Natural Science Edition), vol. 28, no. 4, 2008, pp.91-94.

[9] Guo Jianhua, Lijing: Reaearch on Intergrated Control of Active Front Steering and Anti-Lock Brake System, Automobile Technology, vol. 11, 2007, pp.4-8.

[10] Si Lizeng, in: The vehicle anti-slip control system—ABS and ASR, edited by China Communications Press, Beijing, 1995, in press.