J.-W. Perng, L.-S. Ma, B.-F. Wu, and T.-T. Lee (Taiwan)
Vehicle steering system, PI control, parameter plane,
gain-phase margin. limit cycle.
In this paper, the robust analysis and design of vehicle
steering control systems with uncertainties are considered
by the use of parameter plane method and gain-phase
margin tester method. A systematic design procedure is
proposed to solve this problem. First, a single tracked
vehicle model is given for the design and the suitable
operating range of vehicle system is also defined. Based
on the parameter plane method and gain-phase margin
tester method, a simple PI controller is developed to have
desirable values of gain margins and phase margins in our
work. Furthermore, limit cycles generated from a
saturation element of vehicle system are also discussed.
Computer simulation results show the efficiency of our