Development Of Electric Compliance Steering System For Rhombic Vehicle

This article takes the rhombic vehicle as the object of study. Base on the analysis of the advantage and disadvantage of the mechanical steering transmission mechanism installed on the rhombic vehicle, a scheme of Electrical Rear Wheel Compliance Steering System (ECS) was presented. The structure and working principle of ECS, control strategy and arithmetic were introduced in detail.The mathematical model of ECS was derived by using the degrade method. And with the target of zero-angle controlling present the proportional feedforward type rear wheel compliance steering strategy. PID controller was adopted for the servo control of the steering mechanism. And the ECS simulation model was established in Simulink and confirmed by comparing with the result of the experiment. The stimulation analysis for the effect of the ECS to the vehicle under the stepping steering condition was carried on. The simulation indicated that by adopting the ECS, the high speed manipulating stability of the rhombic vehicle was improved.The controlling system was developed. The hardware development included power module, MCU module, Motor driven and protective circuit, signal process circuit and error alarm circuit. Software development included initialization module, control arithmetic, digital filter, main routine design and so on.The model of ECS was made and the main function of it was tested in vehicle. The test result indicated that the ECS can realize the rear wheel quick, accurate, and stable compliance steering control.