Advances in Control Systems

Four Wheel Steering Control System

2009.6.10 (Wed)

Pongsathorn Raksincharoensak, TUAT Four Wheel Steering Control System 1

 Tokyo Univ. of Agriculture & Technology
Vehicle Dynamics Control Mech. Sys. Eng. Nagai Laboratory

Enhancing vehicle dynamics performances by

Active Chassis Control Technologies
Traction
(driving) Roles of Chassis Control
Respect to the driver intention

Cornering Cornering Reduce the driver workload

Enhance its limit performance

avoiding side-slip, spin,etc during
emergency maneuver

Braking

Pongsathorn Raksincharoensak, TUAT Four Wheel Steering Control System 2

 Tokyo Univ. of Agriculture & Technology
Active Safety Technology Mech. Sys. Eng. Nagai Laboratory

Active Safety Technology is realized by active chassis

control systems for enhancing Vehicle Dynamic
Performance, as follows;
・ABS : Anti-skid Brake System
・TCS ： Traction Control System
・4WS ： Four-Wheel-Steering, (Active Rear Steer)
・AFS ： Active Front Steer, (Steer-by-Wire, EPS)
・DYC ： Direct Yaw-moment Control, (VSC, ESP)

Pongsathorn Raksincharoensak, TUAT Four Wheel Steering Control System 3

 Driver-vehicle system

Road DRIVER Input Output

VEHICLE
Recognition Decision Operation

The relationship of input-output in the driver-vehicle-controller system

CONTROLLER

Road
DRIVER VEHICLE

Pongsathorn Raksincharoensak, TUAT Four Wheel Steering Control System 4

 Tokyo Univ. of Agriculture & Technology
Vehicle Chassis Control Dept. of Mech. Sys. Eng. NAGAI Lab.

(1) Active Rear Steer

sideslip motion control Active Chassis Control
(Planar motion)
・Yaw motion
・Sideslip motion
(2) Direct Yaw Control (3) Active Front Steer

sideslip motion control(emergency)

Pongsathorn Raksincharoensak, TUAT Four Wheel Steering Control System yaw rate control 5
 Four-Wheel-Steering System (4WS)

Active Rear Steer System (ARS)

y

γ V
β x

Lr Lf
Pongsathorn Raksincharoensak, TUAT Four Wheel Steering Control System 6
 Equivalent Bicycle Model
（Vehicle-Fixed Coordinate）
y Fyf
Fyr
lf
lr
x
δf
V
β
δr
2Cr βf
γ& 2C f
βr
β : Side slip angle

γ : Yaw rate
Pongsathorn Raksincharoensak, TUAT Four Wheel Steering Control System 7
 Bicycle Model Four-Wheel-Steering
Side slip motion : mV ( β& + γ ) = 2 Fyf + 2 Fyr

Yaw motion : I γ& = 2l f Fyf − 2lr Fyr

⎛ lf ⎞
Front tire lateral force : Fyf = C f ⎜ δ f − γ − β ⎟
⎝ V ⎠
⎛ lr
Rear tire lateral force : Fyr = Cr ⎜ δ r + γ − β ⎟
⎞
⎝ V ⎠
Equations of Motions
lf lr
mV ( β& + γ ) = 2C f (δ f − γ − β ) + 2Cr (δ r + γ − β )
V V
lf lr
I γ& = 2l f C f (δ f − γ − β ) − 2lr Cr (δ r + γ − β )
V V
Pongsathorn Raksincharoensak, TUAT Four Wheel Steering Control System 8
 Bicycle Model Plant = a Four-Wheel-Steering vehicle

4WS design employs two approaches.

(1) Transfer Function

b1 f s + ( −b1 f a22 + b2 f a12 ) b1r s + ( −b1r a22 + b2 r a12 )
β= δf + δr
s 2 + 2ζω n s + ω n2 s + 2ζω n s + ω n
2 2

b2 f s + ( −b2 f a11 + b1 f a21 ) b2 r s + ( −b2 r a11 + b1r a21 )

γ = δf + δr
s 2 + 2ζω n s + ω n s + 2ζω n s + ω n
2 2 2

(2) State Space Equation

⎡ β& ⎤ ⎡ a11 a12 ⎤ ⎡ β ⎤ ⎡ b1 f b1r ⎤ ⎡δ f ⎤

⎢ ⎥=⎢ ⎥ ⎢ ⎥ +⎢
b2 r ⎥⎦ ⎢⎣ δ r ⎥⎦
⎣ γ& ⎦ ⎣a21 a22 ⎦ ⎣ γ ⎦ ⎣b2 f
Pongsathorn Raksincharoensak, TUAT Four Wheel Steering Control System 9
 Control system design of 4WS
• Feedforward rear-wheel steering control
(1) Rear wheel steering angle is proportional to the front steering angle

δ r = kδ f
(2) Rear wheel steering angle is proportional to the front steering angle
with dynamics.

τ 1s + 1
δr = k δf
τ 2 +1
Pongsathorn Raksincharoensak, TUAT Four Wheel Steering Control System 10
 Effect of 4WS on vehicle dynamics
Steer in-phase Steer out-of-phase

- Reduce yaw rate gain - Increase yaw rate gain

- Improve stability at high speed - Improve agility
- Reduce side slip angle when cornering - Improve maneuverability at low speed

Pongsathorn Raksincharoensak, TUAT Four Wheel Steering Control System 11

 “Sideslip angle of 2WS” = Vehicle attitude (車体姿勢） V
0.04 β

Slip Angle[rad]
0.02
β 0
Heading
-0.02 Heading
outside
-0.04 inside
0 50 100 150
Car Velocity[km/h]
Low speed
To suppress the sideslip angle for making the vehicle easier to drive,
we can add the rear wheel steering angle to control the vehicle attitude.
β
V
0.5

δr
0
Ratio[-]

-0.5
δf -1 Opposite Same
direction direction
-1.5
0 50 100 150
Car Velocity[km/h] High speed

“Zero-side-slip 4WS”
Pongsathorn Raksincharoensak, TUAT
= Speed dependent 4WS
Four Wheel Steering Control System 12