Development of an Integrated System of 4WS and 4WD by H Control Toyota Motor Corporation

Format:

Conference/Event

Author/Creator:

Hirano, Yutaka, author.

Conference Name:

International Congress & Exposition (1993-03-01 : Detroit, Michigan, United States)

Language:

English

Physical Description:

1 online resource

Place of Publication:

Warrendale, PA SAE International 1993

Summary:

AbstractA control law for integrating 4WS and 4WD systems is presented. It is based upon a non-linear vehicle model in which the lateral force acting on the tires changes according to the tire slip angle, slip ratio and the load. The purpose of the system is to make the actual yaw rate follow the desired yaw rate. A two-degree-of-freedom control structure has been devised and variable transformation is used to linearize the non-linear model so that H control theory can be applied to design the feedback compensator. A new control theory is used to calculate optimum command values for the 4WS and 4WD actuators. Moreover, adaptive logic is added to reduce the desired yaw rate as the tires approach the limits of adhesion. Simulations and experiments prove the system greatly improves stability during cornering

Notes:

Vendor supplied data

Publisher Number:

930267

Access Restriction:

Restricted for use by site license