Developing a novel rear steering angle control strategy for a modern three-wheeler
by Saeid Shabzendehdar; Masoud Masih-Tehrani; Khashayar Moridpour
International Journal of Vehicle Autonomous Systems (IJVAS), Vol. 16, No. 1, 2021

Abstract: In this paper, a new rear steering angle control strategy is developed. This strategy is derived from the nonlinear 3DOF bicycle model to improve three-wheeler stability and manoeuvrability. However, the previous rear steering strategies have derived from the linear 2DOF bicycle model, which has more simplicity assumptions. This new strategy has additional input comprising lateral velocity in comparison with the previous rear steering strategies. This extra input could be simply observed using a suitable sensor. The nonlinear 3DOF tricycle equations have been implemented in MATLAB/Simulink for the modelling of the three-wheeler. Configurations of the handmade MATLAB/Simulink model are obtained from the information of the CarSim three-wheeled car. The developed model is validated using the CarSim three-wheeled car, which is in good agreement with the experimental results. The three-wheeler model is used to compare the results of the strategies at different moving conditions. The results confirm that the new strategy provides better stability at high velocities and better manoeuvrability at middle velocities. Furthermore, the new strategy has acceptable performance at low velocities (parking manoeuvres). Besides, the new strategy has a suitable settling time and overshoot performance at transient manoeuvres.

Online publication date: Fri, 08-Oct-2021

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