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Double-layer Dynamic Decoupling Control System for the Yaw Stability of Four Wheel Steering Vehicle

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  • Control Theory and Applications
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Abstract

The four-wheel steering (4WS) is an efficient method to improve the manoeuvrability of electric vehicle with the tendency of understeer, by providing the sufficient steering angles. Because of the various kinds of driving environments, the inner coupling between the active front and rear wheels of the 4WS vehicle is a challenging problem, which usually results in unstable yaw stability of the vehicle. In order to solve this coupling problem, this paper presents a double-layer dynamic decoupling control system (DDDCS), which consists of an upper part-dynamic decoupling unit (DDU) and a lower part-steering control unit (SCU). The DDU is presented to solve the dynamic coupling problem between the active front and rear wheels, and separately establishes two decoupled models by the diagonal decoupling method. The SCU is designed to obtain the decoupled control signals by the model predictive controller, then, the yaw stability of 4WS vehicle can be guaranteed. The results of the simulation show that the proposed DDDCS has good decoupling performance and stable yaw performance for 4WS vehicle.

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Author information

Authors and Affiliations

  1. College of Electrical and Information Engineering, Hunan University, Changsha, China

    Ke Shi & Xiaofang Yuan

  2. Colleges and Universities Key Laboratory of Cloud Computing and Complex Systems, Guilin University of Electronic Technology, Guilin, China

    Qian He

Authors
  1. Ke Shi
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  2. Xiaofang Yuan
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  3. Qian He
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Corresponding author

Correspondence to Xiaofang Yuan.

Additional information

Recommended by Associate Editor Changsun Ahn under the direction of Editor Myo Taeg Lim. This work was supported in part by the National Natural Science Foundation of China (No.61573133, No.61661015, No.61503128), Guangxi Colleges and Universities Key Laboratory of Cloud Computing and Complex Systems (No.YF16204).

Ke Shi received his B.S. in Hunan University of Science and Technology in 2015. He is currently a Ph.D. student at Hunan University. His research interests include intelligent control theory and application, and electric vehicle stability control.

Xiaofang Yuan received his B.S., M.S. and Ph.D. degrees in electrical engineering all from Hunan University, Changsha, China, in 2001, 2006 and 2008, respectively. He is currently a full Professor at Hunan University. His research interests include intelligent control theory and application, industrial process control, and electric vehicle control.

Qian He received the B.S. in Hunan University in 2001, an M.S. in Guilin University of Electronic Technology in 2004, and a Ph.D. in Beijing University of Posts and Telecommunications in 2011. He is currently a full Professor at Guilin University of Electronic Technology. His research interests include network security and distribute computing.

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Shi, K., Yuan, X. & He, Q. Double-layer Dynamic Decoupling Control System for the Yaw Stability of Four Wheel Steering Vehicle. Int. J. Control Autom. Syst. 17, 1255–1263 (2019). https://doi.org/10.1007/s12555-018-0694-5

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  • DOI: https://doi.org/10.1007/s12555-018-0694-5

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