In this paper, a stability control method based on active front steering control is proposed to steer by wire system (SBW). The proposed control system consists of an inner-loop angle tracking controller and an outer-loop controller. The inner-loop controller contributes to front steering angle tracking, and it is designed by PID control. The outer-loop controller restrains the effect of disturbance by feeding a compensation steering angle, and it is designed by using Improved Active Disturbances Rejection Control (IADRC) with less adjusted parameters than Active Disturbances Rejection Control (ADRC). Finally, the effectiveness of the proposed method is evaluated via numerical simulation and vehicle test. The obtained results show that the proposed controller can improve the handling stability of the SBW system. To a certain extent, the study results promote the research and application of SBW system.
YihPRyuJGerdesJC.Modification of vehicle handling characteristics via steer-by-wire. IEEE Trans Control Syst Technol2005; 13(6): 965–976.
2.
CongZJianXGuixiangZ.Modeling and simulation of steer-by-wire system. J Stat Comput Simul2012; 3: 355–358.
3.
DaherNIvantysynovaM.A virtual yaw rate sensor for articulated vehicles featuring novel electro-hydraulic steer-by-wire technology. Control Eng Pract2014; 30: 45–54.
4.
SaruchiSAZamzuriHMazlanSA, et al. Wheel synchronization control in steer-by-wire using composite nonlinear feedback. Appl Mech Mater2014; 575: 762–765.
5.
CetinAEArif AdliMBarkanaDE, et al. Adaptive on-line parameter identification of a steer-by-wire system. Mechatronics2012; 22(2): 152–166.
6.
DaherNIvantysynovaM.An indirect adaptive velocity controller for a novel steer-by-wire system. J Dyn Syst Meas Control2014; 136(5): 051012.
7.
MousavinejadIKazemiR.Variable structure controller design for steer-by-wire system of a passenger car. J Mech Sci Technol2014; 28: 3285–3299.
8.
JiXWuJZhaoY, et al. A new robust control method for active front steering considering the intention of the driver. Proc IMechE, Part D: J Automobile Engineering2015; 229(4): 518–531.
9.
ZhuHLiLJinM, et al. Real-time yaw rate prediction based on a non-linear model and feedback compensation for vehicle dynamics control. Proc IMechE, Part D: J Automobile Engineering2013; 227(10): 1431–1445.
10.
HunainiFRobandiISutantraN.Optimization of automatic steering control on a vehicle with a steer-by-wire system using particle swarm optimization. Turk J Electr Eng Comput Sci2016; 24: 541–557.
11.
DaherNIvantysynovaM.Yaw stability control of articulated frame off-highway vehicles via displacement controlled steer-by-wire. Control Eng Pract2015; 45: 46–53.
12.
FujimotoHHoriY.Lateral stability control of In-wheel-motor-driven electric vehicles based on sideslip angle estimation using lateral tire force sensors. IEEE Trans Vehicular Technol2012; 61(5): 1972–1985.
13.
FahamiSMHZamzuriHMazlanSA, et al. Modeling and simulation of vehicle steer by wire system. In: 2012 IEEE symposium on humanities, science and engineering research, Kuala Lumpur, Malaysia, 1 June 2012, pp.765–770.
14.
Baquero-SuárezMCortes-RomeroJArcos-LegardaJ, et al. Automatic stabilization of a riderless bicycle using the active disturbance rejection control approach. Rev Iberoam Autom Inform Ind2017; 15: 86–100.
15.
HasbullahFFarisWF.Simulation of disturbance rejection control of half-car active suspension system using active disturbance rejection control with decoupling transformation. J Phys Conf Ser2017; 949: 012025.
16.
YiranLHuiCH, Application of active disturbance rejection control strategy for active front wheel steering control. In: 2010 International Conference on Mechanic Automation and Control Engineering, Wuhan, China, 2010, pp. 3566–3569.
17.
ZhongSHuangYGuoL.A parameter formula connecting PID and ADRC. Sci China Inf Sci2020; 63: 175–187.
18.
XiongLJiangYFuZ.Steering angle control of autonomous vehicles based on active disturbance rejection control. IFAC-PapersOnLine2018; 51(31): 796–800.
19.
SaruchiSAZamzuriHMazlanSA, et al. Active front steering for steer-by-wire vehicle via composite nonlinear feedback control. In: 2015 10th Asian control conference (ASCC), Kota Kinabalu, Malaysia, 31 May 2015, pp.1–6.
20.
NamKOhSFujimotoH, et al. Robust yaw stability control for electric vehicles based on active front steering control through a steer-By-wire system. Int J Autom Technol2012; Kota Kinabalu, Malaysia, 13: 1169–1176.
21.
ZhouRHanWJTanW.On applicability and tuning of linear active disturbance rejection control. IET Control Theory Appl2018; 35(11): 1654–1662.
