A study on the active control of four-wheel steering vehicles (Part 1) - measurement of the characteristics of the independent control for transverse displacement and attitude angle

摘要

In order to improve the attitude control efficiency of working vehicles, we prepared an active control system for four-wheel steering vehicles and carried out the experiment for the measurement of its control characteristics. The vehicle used for the experiment was a four-wheel steering vehicle with 2 axles independent control type that controls the front axle and the rear axle separately. The method applied to the system prepared for this experiment is to obtain front and rear steering angles by combining linearly the controlled variables that control the transverse displacement and the attitude angle separately. Although there remain some interferences by the limitation of the mechanism of the vehicle, it was confirmed with the results of running experiments that the transverse displacement and the attitude angle could be controlled as an independent controlled variable respectively.