Steering Control of Four Wheel Independent Vehicle

• Main Authors: Chun-Huei Lin, 林春輝
• Other Authors: Wen-Hong Cheng
• Format: Others
• Language: zh-TW
• Published: 1993
• Online Access: http://ndltd.ncl.edu.tw/handle/10469690564419369198

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.