Improvement of Four Wheel Steering System

POSTALCIOĞLU, Seda · 2019 · Crossref

DOI: 10.21597/jist.515846

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Summary

This paper presents the development and validation of a vehicle dynamics control system for a four-wheel steering (4WS) prototype, aimed at improving stability by minimizing the vehicle side slip angle ($\beta$). The control strategy adapts the effective wheelbase based on velocity: reducing it at low speeds to enhance maneuverability and increasing it at high speeds to improve straight-line stability. The core objective is to actively control the rear steering angle to keep the side slip angle close to zero during dynamic maneuvers. The study employs a virtual prototyping methodology, integrating the multibody simulation software ADAMS with the control algorithm design tool MATRIXx. The control algorithms were developed using both linear and non-linear models. For state estimation, the authors implemented a linear observer (Luenberger observer) and a non-linear observer to estimate the side slip angle and yaw rate from measurable quantities like lateral acceleration and yaw velocity. The control logic was tested using two approaches: a bicycle model-based controller and a state-space controller derived from a non-linear vehicle model using Riccati equations. The performance of these systems was evaluated through simulations of steady-state cornering and double lane change maneuvers on dry, wet, and icy roads. The results demonstrate that the observers accurately track the side slip angle and yaw velocity, with the Luenberger observer showing close agreement with the full ADAMS vehicle model and the simplified bicycle model. In terms of control, the 4WS systems significantly reduced the side slip angle compared to a vehicle without 4WS. Specifically, the state-space controller provided superior stability on icy roads during double lane changes, keeping the vehicle path closer to the target and maintaining lower side slip angles than the bicycle model controller or the uncontrolled vehicle. On dry roads, both controllers effectively minimized side slip, but the state-space approach offered more robust handling under low-friction conditions. The significance of this work lies in demonstrating the efficacy of virtual prototyping for developing complex vehicle control systems. By validating control algorithms in a simulated environment before physical implementation, the study highlights a streamlined path from theoretical design to software rapid prototyping. The findings confirm that active 4WS, particularly when governed by non-linear state-space control, can substantially enhance vehicle stability and safety, especially in critical low-traction scenarios.

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• steering pattern