The Enhancement of Handling Stability for Driver-combined-vehicle Systems through Adaptive Steering Controller
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ISSN:1598-6446 eISSN:2005-4092 http://www.springer.com/12555
The Enhancement of Handling Stability for Driver-combined-vehicle Systems through Adaptive Steering Controller Jing-Hong Li*, Qiang Wang, Gao-Hong Yu, and Chuan-Yu Wu Abstract: Drivers who lack sufficient experience would be unable to achieve handling stability due to the variation and dynamics of the combined vehicles (CVs). Drivers face hurdles in the stabilization attempt once these vehicles are rendered unstable. In this investigation, the use of the behavior of real vehicles to track the desired properties of the developed combined vehicles can help maintain good handling stability despite the present varying dynamics. This paper provides an appropriate design method for CVs to gain suitable handling property for such vehicles. The developed adaptive steering controller (ASC) allows the tracking of the desired vehicle by the real vehicle, despite the variation of parameter and lack of information of the real vehicle. Simulation results are obtained to validate that the handling stability was improved by using one design parameter, which minimizes frequency oscillation caused in the wheel steering angles. The introduction of a driver model that can simulate the real vehicle demonstrated that the adoption of the ASC is useful in the driver-tractor-semitrailer system. Keywords: Adaptive control, combined vehicles, desired combined vehicle, driver model, steering control, tracking control.
1.
INTRODUCTION
Combined vehicles (CVs) such as those of tractors and semi-trailer are associated with design complexity as opposed to their non-combined counterparts such as the passenger vehicles. This complexity impacts on their stability, which often presents a challenge for drivers who would try to stabilize them. Furthermore, CVs suffer massive damage when involved in a traffic accident. The proposed control schemes states that steering controllers must be backed up with factual information of the vehicle’s parameters, which are instrumental when handling their instability. The CVs parameters and their handling must be factored, as they vary greatly, such as full load and nonload types. Apart from design complexities, handling CVs in weather extremities such as fog and heavy rain may also be challenging. If steering controllers are designed in disregard of the vehicle parameter variations, the results may be an unstable closed loop system (CLS) or poor performance. Fortunately, robust steering controllers are equipped to overcome such challenges. Still, the operators of these steers need information for the design factors, such as the
alignment with gravity center or even its length. There are fewer than three independent control inputs that are used to improve handling performance in the proposed schemes [1–7]. Kleuskens and Jansen [1] introduced the tractors front wheel steering (FWS)], Suzuki et al. [2] introduced the tractor’s FWS and the semi-trailer area. Kageyama and Sito [6] and Fancher et al. [4] introduced the tractor’s front and rear wheel steerin
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