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Identification of
Ground
Vehicle
Steering System Backlash
Huang, Xiaoyu ; Wang, Junmin
Journal of dynamic systems, measurement, and control, 2013-01, Vol.135 (1)
[Periódico revisado por pares]
ASME
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Título:
Identification of
Ground
Vehicle
Steering System Backlash
Autor:
Huang, Xiaoyu
;
Wang, Junmin
Assuntos:
Algorithms
;
Backlash
;
Dynamical systems
;
Dynamics
;
Mathematical analysis
;
Mathematical models
;
Steering
;
Vehicles
É parte de:
Journal of dynamic systems, measurement, and control, 2013-01, Vol.135 (1)
Notas:
011014
ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 23
Descrição:
This paper presents an identification method for the backlash embedded in
ground
vehicle
steering systems. A backlash model relates the steering system output—road-wheel steering angle (RWSA) to the input—hand-wheel steering angle (HWSA). An accurate backlash model is helpful in achieving a better control performance or a more precise reference model for
vehicle
dynamic control. The proposed identification procedure consists of two parts. First, the unmeasurable RWSA is estimated by manipulating equations of a two degrees-of-freedom
vehicle
lateral
dynamics
model, where the signals related to the
vehicle
motion are obtained from an inertial measurement unit and global positioning system, and the estimation problem is transformed to solving an algebraic equation by optimization tools. Second, by applying a recursive general identification algorithm, parameters that characterize the steering system backlash model are identified recursively from the reconstructed RWSA and measured HWSA.
Vehicle
road tests have been carried out and the experimental results show effectiveness of the proposed identification method. The developed algorithm can be applied both on-line and off-line, and its on-line implementation process is also presented.
Editor:
ASME
Idioma:
Inglês
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