adams –fuzzy control 4ws vehicle virtual prototyping

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.,

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

RAF’ATANDKAZEMI: ADAMS –FUZZY CONTROL 4WS VEHICLE VIRTUAL PROTOTYPING

Indian J.Sci.Res.6 (1): 222-228, 2014

Figure 2: Rear suspension of 4WS car model

CONTROLLER DESIGN

The model has a high degree of freedom

and nonlinear; therefore, the Fuzzy Logic Controller is

useful for this system. First, define the inputs and outputs,

and then write fuzzy rule bases. The output of ADAMS is

the input for Matlab and vice versa. In the 4WS car model,

front steer angle and vehicle velocity are inputs and rear

steer angle is the output of fuzzy logic controller (Fig. 3).

Also we used a simple controller to show the effect of speed

on handling.

In this study the fuzzy rule bases has been written

from relation between rear and front steer and vehicle speed,

via Mazda and Honda vehicles, as shown in figures 4 to 7.

Figure 3: Inputs and outputs of main controller

Figure 4: The relationship between rear and front wheel angles in Honda vehicles

RAF’ATANDKAZEMI

Indian J.Sci.Res.6 (1): 222-228, 2014

Figure 5: The ratio of rear and front wheel steer in main controller (dependant on speed) in Mazda vehicles

SIMULATION RESULTS

The standard tests used for the vehicle performance

are constant radius cornering, single lane change and step

steer. These tests have been performed on two models (2WS


The ratio of rear and front wheel steer in main controller (dependant on speed) in Mazda vehicles

Figure 6: Fuzzy rule bases

Figure 7: Membership functions

The standard tests used for the vehicle performance

are constant radius cornering, single lane change and step

steer. These tests have been performed on two models (2WS

and 4WS). Figures 9 to 17 are the results of step steer test.

Figures 18 to 26 are the results of lane change test.

According to these figures the 4WS vehicle has better

handling and manoeuvrability.

FUZZY CONTROL 4WS VEHICLE VIRTUAL PROTOTYPING

The ratio of rear and front wheel steer in main controller (dependant on speed) in Mazda vehicles

Fuzzy rule bases

Membership functions




handling and manoeuvrability.





Indian J.Sci.Res.6 (1): 222-228, 2014

Figure 8: The structure of link between ADAMS and Matlab

Figure 9:Path of the vehicle in single lane change

Figure 10: Angles of rear and front wheels

Figure 11:Roll angle

Figure 12: Lateral speed

----12

----8

----4

0

0 10 20 30 40

Longitudinal [m]

Late

ral [m

]

کنترلر ساده

خودرو آغازین

کنترلر تابع سرعت

-10

0

10

20

30

0 1 2 3 4 5

Time [sec]

Wheel Ste

er Angle [deg]

Front

SimpleSpeed Dependant

-5

-3

-1

1

3

0 1 2 3 4 5

Time [sec]

Roll A

ngle

[deg]

Simple

Speed Dependant

----5

----1

3

7

0 1 2 3 4 5

Time [sec]

Speed [m

/se

c]

Simple

Speed Dependant


Indian J.Sci.Res.6 (1): 222-228, 2014

Figure 13:Roll speed

Figure 14:Yaw speed

Figure 15:Lateral acceleration

Figure 16:Roll acceleration

Figure 17:Yaw acceleration

Figure 18:Angles of rear and front wheels

-30

-21

-12

-3

6

15

24

0 1 2 3 4 5

Time [sec]

Speed [deg/se

c]

Simple

Speed Dependant

----15

5

25

45

65

0 1 2 3 4 5

Time [sec]

Speed [deg/se

c]

Simple

Speed Dependant

----0.8

----0.4

0.0

0.4

0 1 2 3 4 5

Time [sec]

Acc

ele

ration [

m/se

c^2]

Simple

Speed Dependan

t

----280

----180

----80

20

120

220

0 1 2 3 4 5

Time [sec]

Acc

ele

ration [deg/se

c^2]

Speed Dependant

Simple

----40

----20

0

20

0 1 2 3 4 5

Time [sec]

Acc

ele

ration [deg/se

c^2]

Simple

Speed Dependa

----5

0

5

10

15

20

25

30

0 1 2 3 4 5

Time [sec]

Wheel Ste

er Angle

[deg]

Front

Rear


Indian J.Sci.Res.6 (1): 222-228, 2014

Figure 19:Path of the vehicle in single lane change

Figure20:Roll angle

Figure 21:Lateral speed

Figure 22:Roll speed

Figure 23:Yaw speed

Figure 24:Lateral acceleration

----25

----17

----8

0

0 25 50 75 100 125

Longitudinal [km]

Late

ral [k

m]

4ws

2ws

----7

----3

1

5

0 2 4 6 8 10

Time [sec]

Roll A

ngle [deg]

4ws

2ws

----4

0

4

8

0 2 4 6 8 10

Time [sec]

Speed [m/se

c]

4ws

2ws

----8

0

8

16

0 2 4 6 8 10

Time [sec]

Speed [deg/se

c]

4ws

2ws

----30

----20

----10

0

10

20

30

40

0 2 4 6 8 10

Time [sec]

Speed [deg/se

c]

4ws

2ws

----0.7

0.0

0.7

0 2 4 6 8 10

Time [sec]

Acc

ele

ration [m

/se

c^2]

4ws

2ws


Indian J.Sci.Res.6 (1): 222-228, 2014

Figure 25:Roll acceleration

Figure 26:Yaw acceleration

CONCLUSION

Due to results of standard tests obviously seen the

yaw velocity, roll velocity, lateral velocity, yaw

acceleration, lateral acceleration, roll acceleration and roll

angle in 4WS are less than 2WS. It means that the vehicle

handling has been improved. In 4WS, in low velocity, the

manoeuvrability and in high velocity, the vehicle stability

have been improved. In 4WS in low velocity which the

vehicle is in parked position, the direction of wheels is

opposite. It means that the vehicle can turn in a smaller

radius. In high velocity the direction of wheels is the same,

which means that the vehicle can turn in a larger radius.

Also, the side slip velocity in 4WS vehicles is less than 2WS

vehicles which that means better handling performance.

REFERENCES

Thomas D. Gillespie, “Fundamental of Vehicle Dynamics”,

1992 SAE, Inc. John C. Dixon, “Tire, Suspension

and Handling”, 1996 SAE, Inc.

KarbalayiR., A. Ghafari, R .Kazemi, H. Tabatabaei,2008. "A

New Intelligent strategy to Integrated Control of

AFS/DYC Based On Fuzzy Logic", International

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Science(WASET), Vol. 1, ISSN 1307-7465, Page

47-52, November 2008.

Ghaffari,A. S. H. Tabatabaei, R. Kazemi, R. Karbalaei,

2011. "An Intelligent Approach to The Lateral

Forces Usage In Controlling The Vehicle Yaw

Rate", Asian Journal of Control (Wiley), Vol. 13,

No. 2, pp. 1-19, March 2011.

FratilaD.and J. Darling, 1996.Simulation of Coupled Car

and Caravan Handling Behavior”, Vehicle System

Dynamics, 26, 397-429.

BayaniM.Kh, R. Kazemi, Sh. Azadi,2012. Vehicle

Stabilization via a Self-Tuning Optimal

Controller", Amirkabir International Journal of

Modeling, Identification, Simulation & Control

(IJMISC).

Sanchez,N.E.1994. Nonlinear Dynamics and Control of a

Four-Wheel Steering Vehicle Using Symbolic-

Numerical Approach”, Int. J. of Vehicle Design,

Vol. 15, No ½,.

TahamiF., R. Kazemi, Sh. Farhangi, "Fuzzy Base Stability

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Electric Vehicles", 2003. SAE Journal of Passenger

car-Mechanical System, Vol. 6, Page 1825-1833,

Sep 2003.

TahamiF., R. Kazemi, Sh. Farhangi, 2004. A Fuzzy Logic

Direct Yaw-moment Control System for All-

Wheel-Drive Electric Vehicles", Vehicle System

Dynamics Journal, Vol. 41, No .3, March 2004.

YangZh.,Zh. Wang, W. Su, J. Zhang, 2010. Multi-Mode

Control Method Based on Fuzzy Selector in the

Four Wheel Steering Control System”, IEEE

International Conference on Control and

Automation, 2010.

ShufengW.,Zh. Junyou, 2010. The Research and Application

of Fuzzy Control in Four-Wheel-Steering Vehicle”,

Seventh International Conference on Fuzzy Control

Systems and Knowledge Discovery, 2010.

Kazemi,R. M. Raf’at, P. Asghari, 2012 .The Effect of Speed

on the Four Wheel Steering Vehicle Control",

International Journal of Control and

Industrialization, 2012 (in Persian).

----40

----20

0

20

40

0 2 4 6 8 10

Time [sec]

Acc

ele

ration [deg/se

c^2] 4ws

2ws

----13

----8

----3

2

7

12

0 2 4 6 8 10

Time [sec]

Acc

ele

ration [deg/se

c^2]

4ws

2ws

adams –fuzzy control 4ws vehicle virtual prototyping

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