Application of state feedback and observer inmulti-axle vehicle steering system |
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| Authors: | WANG Huan GAO Xiu-hu ZHANG Xiao-jiang HUANG Da-wei and CHEN Shu-qing |
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| Institution: | College of Mechanical Science and Engineering,Jilin University,Changchun 130022,Jilin,P.R. China;College of Mechanical Science and Engineering,Jilin University,Changchun 130022,Jilin,P.R. China;College of Mechanical Science and Engineering,Jilin University,Changchun 130022,Jilin,P.R. China;MMI Planning & Engineering Institute IX,Changchun 130011,Jilin,P.R. China;;The Second Aeronautical Institute of the Airforce,Changchun 130022,Jilin,P.R. China |
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| Abstract: | A 3-degrees of freedom multi-axle vehicle dynamic model is established.Taking account of the practical difficulties for measuring the sideslip,rolling angles and rolling angle speed,a Luenberger observer is designed,and the simulation and analysis of the Luenberger observer are performed.The results show that the Luenberger observer has excellent characteristics in the considered speed range in tracking path.Then,a state feedback controller is designed on the basis of the Luenberger observer,and simulation of a multi-axle vehicle is also carried out.The results show that the performances of a multi-axle vehicle with the proposed control strategy is better than a multi-axle vehicle with front wheel steering strategy,and its control system has fine dynamic characteristic and strong robustness,so multi-axle vehicle with the proposed control strategy can improve vehicle handling stability and security. |
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| Keywords: | multi-axle steering Luenberger observer state feedback handling stability |
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