Fuzzy control method for a steering system consisting of a four-wheel individual steering and four-wheel individual drive electric chassis

Issue title: Some highlights on fuzzy systems and data mining

Guest editors: Shilei Sun, Silviu Ionita, Eva Volná, Andrey Gavrilov and Feng Liu

Article type: Research Article

Authors: Song, Shujie^a | Qu, Jiwei^b | Li, Yining^b | Zhou, Wei^b | Guo, Kangquan^{b; c; *}

Affiliations: [a] College of Food Science and Engineering, Northwest A&F University, Yangling, Shaanxi, China | [b] College of Mechanical and Electronic Engineering, Northwest A&F University, Yangling, Shaanxi, China | [c] Shaanxi Engineering Research Center for Agricultural Equipment, Yangling, Shaanxi, China

Correspondence: [*] Corresponding author. Kangquan Guo, Tel.: +86 029 87092391; Fax: +86 029 87092391; E-mail: [email protected].

Abstract: In this paper, we study a four-wheel, individual steering and four-wheel, individually driven, electric chassis, named the flexible chassis. A 2-FOF nonlinear steering model for the flexible chassis is established based on the “magic formula” tire model and the Ackermann steering theorem at low speed. Also, a new control method based on the fuzzy strategy is proposed for its sideslip angle control. The left front-wheel steering angle is inputted into the simulation of the vehicle, and the left-rear wheel angle is controlled by the fuzzy controller to make the sideslip angle zero. Also, the remaining steering angle of the other two wheels, which meet the Ackermann theorem, are adjusted. Comparisons between simulations of the front-wheel steering, four-wheel, proportional steering and the newly proposed steering indicate that the new control algorithm in this paper is effective.

Keywords: Electric vehicle, fuzzy control, four-wheel independent steering, four-wheel independent driving, simulation

DOI: 10.3233/JIFS-169178

Journal: Journal of Intelligent & Fuzzy Systems, vol. 31, no. 6, pp. 2941-2948, 2016