Tire-Model-Free Control for Steering of Skid Steering Vehicle

被引：0

作者：

Meng, Haolan ^{[1
]}

Xiong, Lu ^{[1
]}

Gao, Letian ^{[1
]}

Yu, Zhuoping ^{[1
]}

Zhang, Renxie ^{[1
]}

机构：

[1] Tongji Univ, Sch Automot Studies, Shanghai 201804, Peoples R China

来源：

2018 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV) | 2018年

基金：

中国国家自然科学基金;

关键词：

skid steering; steer-by-wire; electric vehicles;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Skid steering vehicle has larger wheel slip ratio when steering than straight driving. Due to the lack of accurate tire model in practical application, the slip coefficient is difficult to be quantitatively studied. However, there would be a large steady state error on the skid steering vehicle, which using the wheel speed difference control if the coefficient was ignored. Aiming at this problem, a controller overcoming integral saturation for steering control based on proportional integral control method is designed, which can correct the wheel slip coefficient in real time without the tire model. In the end, the effectiveness of the algorithm is verified by real vehicle test.

引用

页码：1590 / 1595

页数：6

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