Abstract
Because of the complexity of vehicle steering motion, the classical linear two degrees of freedom lateral dynamics model of vehicle has been unable to meet well the research needs of the active steering control system. In order to make better use of the chassis control technology to improve the safety when vehicle turning and the vehicle-handling stability at high speeds, it is necessary to establish a more complex new dynamic model which not only fully reflect the steering characteristics of the vehicle, but also meet the needs of the control system design. In this paper, the active four-wheel steering vehicle is regarded as the research object; the modeling method of a eight degrees of freedom nonlinear dynamics model of this active four-wheel steering vehicle is discussed based on the comprehensive analysis of kinetic and kinematic; the differential equations for each degree of freedom of motion are derived step by step; and the modeling and solving methods are also illustrated by means of the Simulink software. In addition, the model accuracy is also verified effectively by contrast with ADAMS vehicle multi-body dynamics model. Verification results show that the established model has a relatively high accuracy and can be applied to the research and analysis for different active chassis control systems of the vehicle.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Lv HM, Liu SN. Closed-loop handling stability of 4WS vehicle with yaw rate control. J Mech Eng. 2013;59(10):595–603.
Yin GD, Chen N, Wang JX, Wu LY. A study on μ-synthesis control for four-wheel steering system to enhance vehicle lateral stability. J Dyn Syst Meas Contr. 2011;133(1):1–6.
Li XR, Kong XB, Xiang ZC. The virtual prototype dynamic simulation design for the lunar vehicle based on ADAMS. Adv Mater Res. 2013;842:620–3.
Janarthanan B, Padmanabhan C, Sujatha C. Longitudinal dynamics of a tracked vehicle: simulation and experiment. J Terrramech. 2012;49(2012):63–72.
Abarbanel HDI, Creveling DR, Farsian R, Kostuk M. Dynamical state and parameter estimation. SIAM J Appl Dyn. Syst. 2009;8(4):1341–81.
Khalid EM, Fouad G, Hamid O, Luc D, Fatima ZC. Vehicle longitudinal motion modeling for nonlinear control. Control Eng. Pract. 2012;20(1):69–81.
Lee YH, Kim SI, Suh MW, Son HS, Kim SH. Linearized dynamic analysis of a four-wheel steering vehicle. Trans. Korean Soc. Automotive Eng. 1994;2(5):101–9.
Spentzas KN, Alkhazali I, Demic M. Dynamics of four-wheel-steering vehicles. Forschung auf dem Gebiete des Ingenieurwesens. 2001;66(6):260–6.
Li MX, Jia YM, Du JP. LPV control with decoupling performance of 4WS vehicles under velocity-varying motion. IEEE Trans Control Syst Technol. 2014;22(5):1708–24.
Russell HEB, Gerdes JC. Design of variable vehicle handling characteristics using four-wheel steer-by-wire. IEEE Trans Control Syst Technol. 2016;24(5):1529–40.
Abe M, Chen XB. Movement and handling of automobile. Beijing: China Machine Press; 1988.
Abe M, Yu F. Vehicle handling dynamics. Beijing: China Machine Press; 2012.
Du F, Yan GH, Guan ZW. Tire modeling on vehicle dynamic simulation. Manuf Info Eng China. 2012;41(21):33–7.
Gim G, Nikravesh PE. An analytical model of pneumatic tires for Nikraveshynamic simulations, Part 1: Pure slips. Int J Veh Des. 1990;11(6):589–618.
Gim, G. An analytical model of pneumatic tire (for vehicle dynamic simulations. Part 2. Comprehensive slips. Int J Veh Des. 1991;12(1):19–39.
Du F, Yan GH, Chen T. Calculation of vehicle tire force based on Matlab system function. Mech Sci Technol. 2013;32(6):909–13.
Acknowledgements
This research was supported by the Key Project of Tianjin Natural Science Foundation of China (Grant No.16JCZDJC38200).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2020 Springer Nature Singapore Pte Ltd.
About this paper
Cite this paper
Du, F., Guan, Z., Li, J., Cai, Y., Wu, D. (2020). Dynamics Modeling of Active Full-Wheel Steering Vehicle Based on Simulink. In: Patnaik, S., Wang, J., Yu, Z., Dey, N. (eds) Recent Developments in Mechatronics and Intelligent Robotics. ICMIR 2019. Advances in Intelligent Systems and Computing, vol 1060. Springer, Singapore. https://doi.org/10.1007/978-981-15-0238-5_1
Download citation
DOI: https://doi.org/10.1007/978-981-15-0238-5_1
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-15-0237-8
Online ISBN: 978-981-15-0238-5
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)