Steering Control of Four Wheel Independent Vehicle
碩士 === 國立臺灣大學 === 機械工程研究所 === 81 === Since 1960''s , the four wheel steering (4WS) idea has been first Introduced. Many researchs about vehicle behavior focus on the new steering concept and many reports prove that the system of 4WS is not only...
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| Format: | Others |
| Language: | zh-TW |
| Published: |
1993
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| Online Access: | http://ndltd.ncl.edu.tw/handle/10469690564419369198 |
| Summary: | 碩士 === 國立臺灣大學 === 機械工程研究所 === 81 === Since 1960''s , the four wheel steering (4WS) idea has been
first Introduced. Many researchs about vehicle behavior focus
on the new steering concept and many reports prove that the
system of 4WS is not only better in stability but also has
better steer- ing performance than the traditional front wheel
steering (FWS) vehicle. This research will use the 4WS system
in the vehicle model with four wheel independent suspension and
also consider that the mass center of the vehicle is not in the
geometric center for the more realistic situation.
Additionally, this research propose some formulus which is
meanful in physic about the steering angle of rear wheel.
Finally, this research provide the use of some small adjust-
ment in wheels steering angle and some small force coming from
active suspension which can balance the exteral disturbance.
The result of simulation shows that the optimal control rule
found in this research is excellent compared with the
traditional FWS vehicle.
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