Steering Angle Control of Rack Steering Vehicle using Antiwindup-PI-Control
Keywords:
Rack steering vehicle, steering positioning, antiwindup control, dynamicsAbstract
The precision of the steering in a vehicle is one of the issues that need to be tackled for safety and energy efficiencies, especially in the motion at the cornering or turning. The problem is crucial, especially for vehicles with a non-holonomic system such as rack steering vehicles, as it is more prone towards high collisions to the peer walls or off-road incidents due to the inertia factor. Therefore, this study has taken the initiative to propose a steering precision control strategy on Rack Steering Vehicle (RSV) using the proposed antiwindup proportional and integral (API) control. The control objective is to enhance the steering input precision by considering the dynamics of RSV responses that include both vehicle and tire force vectors. Moreover, the API design is emphasized on reducing the friction and other uncertainties in the RSV, which are catered by the antiwindup loop in the control structure. The RSV and the API control are modelled and the the numerical simulation is done with the friction force and aerodynamic force as disturbances. The proposed API was compared with the conventional PID control on the RSV, and the results show that with small fine-tune on the designed API able to compress almost 70% of oscillation in steering angular position response and 3-5% steady-state error from the desired input. The situation gave impact to the vehicle velocity vectors where both horizontal (X-axis) and vertical (Y-axis) velocities are controllable without radical fluctuated speed makes the vehicle with an API controller is 40% slower than with PID in cornering path region. Besides, results also shown that inertia forces are about 25% with PID compare to APID in the cornering region makes this proposed controller able to reduce up to 2kN friction force on average.
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