Indian J.Sci.Res.6 (1): 222-228, 2014 ISSN: 0976-2876 (Print) ISSN: 2250-0138(Online) 1 Corresponding author ADAMS –FUZZY CONTROL 4WS VEHICLE VIRTUAL PROTOTYPING MOHSEN RAF’AT a1 ANDREZA KAZEMI b ab Department of Mechanical Engineering,K. N. Toosi University of Technology ABSTRACT In 4WS a vehicle is controlled by its rear wheel angle. The objective of this research is to investigate the dynamic and control of a vehicle with all wheel steering. A sedan passenger car model has been used in this paper. The validity of this model has been verified by using experimental test results, such as constant radius cornering. Then the vehicle rear axle is steered by using four bar linkages and vehicle dynamic has been verified under critical conditions and has been compared with the initial vehicle, by relating ADAMS software to MATLAB software and designing a fuzzy controller. In 4WS vehicles, in low velocity, the manoeuvrability and in high velocity, the stability has been improved. The Four-Wheel-Steering vehicles have more stability and manoeuvrability than Two-Wheel-Steering vehicles. KEYWORDS:Vehicle Dynamic Controller, Four Wheel Steering, ADAMS,Matlab, Fuzzy Logic Controller The handling quality of a Vehicle is one of the most crucial parameters in the evaluation of the vehicle’s overall performance. This quality is noticeably influenced by the structural and functional characteristics of the various components of the vehicle (Thomas and Gillespie, 1992; Karbalayi et al., 2008; Ghaffari et al., 2011). The vehicle platform subsystems (i.e. steering, suspension, and braking) have major role in altering and tuning handling quality (Fratila and Darling, 1996; Bayani et al., 2012). It brings about special concerns in designing each of these systems and need for having a comprehensive understanding of their role in the handling characteristics of a vehicle. Four-Wheel-Steering (4WS) systems for passenger cars have been actively studied recently. The performance of these systems depends largely on how the rear wheels are controlled as functions of vehicle’s speed, steering angle, and others (Sanchez, 1994; Tahami et al., 2003; Tahami et al., 2004). These rear steering controllers are usually designed to improve: (a) vehicle’s manoeuvrability in low speed, and (b) vehicle’s stability in high speed (Yang et al., 2010; ShufengandJunyou, 2010) VEHICLE MODEL A sedan passenger car model with Mc-Phersonfront suspension system, compound crank axle rear suspension system and rack and pinion steering system has been used in this paper (Kazemi et al., 2012). A passenger car model of a real vehicle is developed in ADAMS software. It is 2WS and has 113 Degrees of Freedom. Designing a four bar linkages in rear suspension in order to steer the rear wheels and add the revolute joint to make the 4WS model out of the 2WS model has been done. The 4WS model has 120 degrees of freedom. The 4WS model and the rear suspension are shown in fig.1 and fig.2. Figure 1: 4WS car model
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ADAMS –FUZZY CONTROL 4WS VEHICLE VIRTUAL PROTOTYPING
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Indian J.Sci.Res.6 (1): 222-228, 2014 ISSN: 0976-2876 (Print)
ISSN: 2250-0138(Online)
1Corresponding author
ADAMS –FUZZY CONTROL 4WS VEHICLE VIRTUAL PROTOTYPING
MOHSEN RAF’ATa1 ANDREZA KAZEMI
b
abDepartment of Mechanical Engineering,K. N. Toosi University of Technology
ABSTRACT
In 4WS a vehicle is controlled by its rear wheel angle. The objective of this research is to investigate the dynamic and
control of a vehicle with all wheel steering. A sedan passenger car model has been used in this paper. The validity of this model has
been verified by using experimental test results, such as constant radius cornering. Then the vehicle rear axle is steered by using four
bar linkages and vehicle dynamic has been verified under critical conditions and has been compared with the initial vehicle, by
relating ADAMS software to MATLAB software and designing a fuzzy controller. In 4WS vehicles, in low velocity, the
manoeuvrability and in high velocity, the stability has been improved. The Four-Wheel-Steering vehicles have more stability and
manoeuvrability than Two-Wheel-Steering vehicles.
KEYWORDS:Vehicle Dynamic Controller, Four Wheel Steering, ADAMS,Matlab, Fuzzy Logic Controller
The handling quality of a Vehicle is one of the
most crucial parameters in the evaluation of the vehicle’s
overall performance. This quality is noticeably influenced
by the structural and functional characteristics of the various
components of the vehicle (Thomas and Gillespie, 1992;
Karbalayi et al., 2008; Ghaffari et al., 2011).
The vehicle platform subsystems (i.e. steering,
suspension, and braking) have major role in altering and
tuning handling quality (Fratila and Darling, 1996; Bayani et
al., 2012). It brings about special concerns in designing each
of these systems and need for having a comprehensive
understanding of their role in the handling characteristics of
a vehicle.
Four-Wheel-Steering (4WS) systems for passenger
cars have been actively studied recently. The performance of
these systems depends largely on how the rear wheels are
controlled as functions of vehicle’s speed, steering angle,
and others (Sanchez, 1994; Tahami et al., 2003; Tahami et
al., 2004). These rear steering controllers are usually
designed to improve: (a) vehicle’s manoeuvrability in low
speed, and (b) vehicle’s stability in high speed (Yang et al.,