The Vehicle Steer by Wire Control System by Implementing PID Controller

Authors

  • Mohd Zaidi Mohd Tumari Faculty of Engineering Technology, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia.
  • Muhammad Salihin Saealal Faculty of Engineering Technology, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia.
  • Wan Norhisyam Abd Rashid Faculty of Engineering Technology, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia.
  • Shahrizal Saat Faculty of Engineering Technology, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia.
  • Muhamad Azidi Mohd Nasir Faculty of Engineering Technology, Universiti Teknikal Malaysia Melaka, Hang Tuah Jaya, 76100 Durian Tunggal, Melaka, Malaysia.

Keywords:

Directional control, PID controller, vehicle steer by wire, Ziegler-Nichols,

Abstract

The latest technology of vehicle steer-by-wire (VSBW) system has promised significant improvement in vehicle safety, dynamics, stability, comfort and maneuverability. Due to complete separation between steering wheel and the front wheels gives the practical problems for steering control especially on directional control and wheel synchronization of vehicle. This paper presents investigations into the development of PID control scheme for directional control and wheel synchronization of a VSBW system. Two PID controllers are used to control the steering wheel angle and front wheel angle. The PID controllers use the front wheel tracking error to generate controlled steering angle. The Ziegler Nichols method is used for tuning the PID parameters. The implementation environment is developed within Matlab/Simulink software for evaluation of performance of the control scheme. Implementation results of the response of the VSBW system with the PID controller are presented in time domains. The performances of control schemes are examined in terms of input tracking capability, wheel synchronization and time response specifications with the absence of disturbances.

References

Cetin A.E, Adli M.A, Barkana D.E and Kucuk H. 2010. Implementation and development of an adaptive steering-control system. IEEE Transactions on Vehicular Technology. 59(1): 75–83.

S. M. H. Fahami, H. Zamzuri, S.A. Mazlan and M.A. Zakaria. 2012. Modeling and Simulation of Vehicle Steer by Wire System. IEEE Symposium on Humanities, Science and Engineering Research, Kuala Lumpur. 24-27 June 2012. 765-770.

A.E. Cetin, M.A. Adli, D.E. Barkan and H. Kucuk. 2012. Adaptive on-line parameter identification of a steer-by-wire system. Elsevier Mechatronics. vol. 22: 152–166.

B. Zheng and S. Anwar. 2009. Yaw stability control of a steer-by-wire equipped vehicle via active front wheel steering. Elsevier Mechatronics. vol. 19: 799–804.

S.C. Chang. 2007. Synchronization in a steer-by-wire vehicle dynamic system. International Journal of Engineering Science. vol. 45: 628–643.

N. Daher and M. Ivantysynova. 2014. A virtual yaw rate sensor for articulated vehicles featuring novel electro-hydraulic steer-by-wire technology. Elsevier Control Engineering Practice. vol.30: 45–54.

X. Wang, C. Zong, H. Xing, R. Hu and X. Xie. 2012. Bilateral Control Method of Torque Drive/Angle Feedback Used for Steer-by-Wire System. SAE Int. J. Passeng. Cars - Electron. Electr. Syst. Vol.5(2):479-485.

Reza Kazemi, I. Mousavinejad, M. Raf’at and M. Bayani Kh. 2011. Yaw Moment Control of the passenger Car via Steer by Wire system. ASME-International Mechanical Engneering Congress & Exposition, Denver,Colorado USA. 13-15 November 2011. 124-129.

Z. Sun, J. Zheng, Z. Man and H. Wang. 2016. Robust Control of a Vehicle Steer-by-Wire System Using Adaptive Sliding Mode. IEEE Transactions on Industrial Electronics. vol. 63 (4). 2251-2262.

E. Natsheh and K.A. Buragga. 2010. Comparison between conventional and Fuzzy Logic PID controllers for controlling DC Motors. International Journal of Computer Science Issue. vol.7 (5). 128-134.

S.G. Tzafestas and N.P. Papanikolopoulus. 1990. Incremental Fuzzy expert PID control. IEEE Trans. Ind. Electron. Vol.31(5). 365-371.

N. Elmi, B. Samadi and A. Ohadi. 2011. Handling Safety Improvement for Steer by Wire Vehicle using Fuzzy Controller. 2nd International Conference on Control, Instrumentation and Automation (ICCIA). Iran. 27-29 December 2011. 144-149.

Y. Nianjiong and L. Qifeng. 2015. Design and Simulation for Steer-by-Wire System Based on Fuzzy-PID. 7th International Conference on Intelligent Human-Machine Systems and Cybernetics. Hangzhou. 26-27 August 2015. 291-294.

S. Abcha, A. Baviskar, J.R. Wagner and D.M. Dawson. 2007. Ground Vehicle steering systems; modelling, control and analysis of hydraulic, electric and steer-by-wire configurations. Int. J. Vehicle Design. Vol.44 (1/2). 188-208.

T. Kaufmann, S. Millsap, B. Murray and J. Petrowski. 2001. Development Experience with Steer-by-Wire. SAE Paper. No. 2001-01-2479.

Downloads

Published

2017-10-15

How to Cite

Mohd Tumari, M. Z., Saealal, M. S., Abd Rashid, W. N., Saat, S., & Mohd Nasir, M. A. (2017). The Vehicle Steer by Wire Control System by Implementing PID Controller. Journal of Telecommunication, Electronic and Computer Engineering (JTEC), 9(3-2), 43–47. Retrieved from https://jtec.utem.edu.my/jtec/article/view/2811

Issue

Vol. 9 No. 3-2: EMPOWERING SCIENCE, ENGINEERING AND TECHNOLOGY TOWARDS GLOBAL MANUFACTURING SUSTAINABILITY

Section

Articles

License

TRANSFER OF COPYRIGHT AGREEMENT

The manuscript is herewith submitted for publication in the Journal of Telecommunication, Electronic and Computer Engineering (JTEC). It has not been published before, and it is not under consideration for publication in any other journals. It contains no material that is scandalous, obscene, libelous or otherwise contrary to law. When the manuscript is accepted for publication, I, as the author, hereby agree to transfer to JTEC, all rights including those pertaining to electronic forms and transmissions, under existing copyright laws, except for the following, which the author(s) specifically retain(s):

  1. All proprietary right other than copyright, such as patent rights
  2. The right to make further copies of all or part of the published article for my use in classroom teaching
  3. The right to reuse all or part of this manuscript in a compilation of my own works or in a textbook of which I am the author; and
  4. The right to make copies of the published work for internal distribution within the institution that employs me

I agree that copies made under these circumstances will continue to carry the copyright notice that appears in the original published work. I agree to inform my co-authors, if any, of the above terms. I certify that I have obtained written permission for the use of text, tables, and/or illustrations from any copyrighted source(s), and I agree to supply such written permission(s) to JTEC upon request.


Most read articles by the same author(s)