Browse Publications Technical Papers 2000-05-0244

A Theoretical Study on Front Steering Angle Compensation Control for Commercial Vehicles 2000-05-0244

This study investigates a control strategy using the front steering angle control to improve the handling and stability of heavy-duty vehicles as a possible substitute for four-wheel steering (4WS) system. The effective steering input is regulated through the state feedback computed by the optimal control theory suggested in this research, to adapt the closed system to the changes of some factors depending on running situations, such as velocity and center of gravity. Direct moment control with a simple auto-tuning proportion controller is also integrated in the compensation system, wherein yaw moment and roll moment are applied to decrease side slip angle and roll angle respectively. A double-cost-function LQR methodology (DLQR) is developed to compute the value of the front steering angle compensation. In addition to traditional LQ cost function, another index called target cost function with a free form is introduced in DLQR to express physical requirements more plainly to determine reasonable weighting matrices. The DLQR extends the concept and the applicable field of LQR to solve an optimal control problem with a general nonlinear cost function. The simulation results show that the integrated system significantly improves the steering characteristics to produce the desired vehicle response in various running conditions.


Subscribers can view annotate, and download all of SAE's content. Learn More »


Members save up to 18% off list price.
Login to see discount.
Special Offer: Download multiple Technical Papers each year? TechSelect is a cost-effective subscription option to select and download 12-100 full-text Technical Papers per year. Find more information here.
We also recommend:

Time Delay Control of a 4WS Vehicle – A Comparison of Single and Dual Steering Control Strategies


View Details


A Comparison between Zero Steady State Compensators and Optimal Control Regulators in a 4WS vehicle


View Details


The Advantages of a Simple Approach Modelling Heavy Vehicle Handling


View Details