A virtual yaw rate sensor for articulated vehicles featuring novel electro-hydraulic steer-by-wire technology |
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| Affiliation: | 1. Anhui Engineering Laboratory of Human-Robot Integration System and Intelligent Equipment, School of Electrical Engineering and Automation, Anhui University, Hefei, China;2. Discipline of Engineering and Energy, Centre of Water, Energy and Waste, Murdoch University, Perth WA6150, Australia;3. School of Electronic Information and Electrical Engineering, Chengdu University, Chengdu 610106, China |
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| Abstract: | Steer-by-wire technologies remain under rigorous research and development given the advantages that they offer over their traditional counterparts. The spectrum of steering systems encompasses applications in the automotive, construction, agricultural, and aerospace industries, to name a few.An original electro-hydraulic steer-by-wire technology based on pump displacement control actuation, an energy efficient alternative to conventional valve control, has been previously proposed by the authors. The new concept was validated and implemented on an articulated steering prototype test vehicle, and resulted in significant fuel savings and machine efficiency increase. This paper investigates the notion of virtual sensing relative to estimating the vehicle?s yaw rate by only measuring the articulation angle and vehicle speed. Virtual sensing is a promising concept for yaw stability control and is an attractive option for vehicle manufactures as it reduces sensor cost, maintenance, and machine downtime. The designed yaw rate sensor is validated in simulation as well as on a test vehicle by devising appropriate steering maneuvers. |
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| Keywords: | Steer-by-wire Articulated vehicles State observer design Optimal estimation Virtual sensing Pump displacement control |
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