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学者姓名：章小龙
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Abstract ：
The driving range of multiaxle steer-by-wire vehicles is significantly affected by the consumption of vehicle cornering resistance power (VCRP). This article addresses this issue by proposing a novel energy-saving steering control strategy to effectively reduce VCRP by optimizing slip angle. Initially, a general VCRP model is developed to establish a relationship between VCRP and the slip angles of each tire. Later, an adaptive nonsingular terminal sliding mode control method is proposed to balance control energy and state errors. In addition, an energy-saving steering angle optimization method is proposed based on the VCRP model, which achieves an optimal steering angle configuration by optimizing the slip angle. The efficacy of the proposed control strategy in energy-saving is evaluated by hardware-in-the-loop tests. The experimental results exhibit noteworthy reductions of more than 21% and 45% in VCRP under both high-friction and low-friction conditions of high speed, respectively, compared to the traditional Ackerman steering control strategies while maintaining excellent steering stability.
Keyword ：
Adaptation models Adaptation models Energy-saving steering control Energy-saving steering control Force Force Friction Friction general vehicle cornering resistance power (VCRP) model general vehicle cornering resistance power (VCRP) model Immune system Immune system multiaxle steer-by-wire vehicles (MA-SbWVs) multiaxle steer-by-wire vehicles (MA-SbWVs) Stability criteria Stability criteria Tires Tires Turning Turning vehicle cornering resistance vehicle cornering resistance Vehicle dynamics Vehicle dynamics Video recording Video recording Wheels Wheels
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| GB/T 7714 | Zhang, Xiaolong , Cheng, Qian , Du, Heng et al. A Novel Energy-Saving Steering Control Strategy Based on General Power Model for Multiaxle Steer-by-Wire Vehicles [J]. | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS , 2025 . |
| MLA | Zhang, Xiaolong et al. "A Novel Energy-Saving Steering Control Strategy Based on General Power Model for Multiaxle Steer-by-Wire Vehicles" . | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS (2025) . |
| APA | Zhang, Xiaolong , Cheng, Qian , Du, Heng , Wan, Jiawei . A Novel Energy-Saving Steering Control Strategy Based on General Power Model for Multiaxle Steer-by-Wire Vehicles . | IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS , 2025 . |
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Abstract ：
Multi-axle heavy vehicles employ a variable-length tie rod steering system to achieve precise multi-mode steering. However, the single-axle steering system need integrate two sets of electro-hydraulic control systems (EHCSs), resulting in the energy consumption significant increase. This paper proposes a novel energy-efficient pump-valve primary-auxiliary electro-hydraulic steering system (PVPA EHSS) which compose of a pumpcontrolled dual-steering cylinders primary system and a valve-controlled variable-length tie rod cylinder auxiliary system. The proposed system utilizes a single pump to drive both the primary and auxiliary EHCSs simultaneously, enabling high-precision and high-efficiency steering with multi steering modes. Additionally, to suppress the flow disturbance of the auxiliary system branch flow on the single-pump-controlled steering primary system, the interaction between the flow of the auxiliary system and the flow of the primary system in each steering phase is studied. A pump flow feedforward-angle feedback composite control strategy incorporating branch flow prediction is proposed to mitigate the disturbance and ensure the accurate steering of left and right tires. The experimental results demonstrate that compared to the traditional variable-length tie rod steering system, the proposed system reduces energy consumption by 58.66 %, and achieves precise adaptation of the left and right tire angles in multi steering modes.
Keyword ：
Electro-hydraulic steering system Electro-hydraulic steering system High-efficiency steering High-efficiency steering Multi-axle heavy vehicles Multi-axle heavy vehicles Pump-controlled dual steering cylinders Pump-controlled dual steering cylinders Pump-valve primary-auxiliary Pump-valve primary-auxiliary Valve-controlled tie rod cylinder Valve-controlled tie rod cylinder
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| GB/T 7714 | Li, Su , Zhang, Zhizhong , Du, Heng et al. Design and verification of a novel energy-efficient pump-valve primary-auxiliary electro-hydraulic steering system for multi-axle heavy vehicles [J]. | ENERGY , 2024 , 312 . |
| MLA | Li, Su et al. "Design and verification of a novel energy-efficient pump-valve primary-auxiliary electro-hydraulic steering system for multi-axle heavy vehicles" . | ENERGY 312 (2024) . |
| APA | Li, Su , Zhang, Zhizhong , Du, Heng , Zheng, Guoqiang , Zhang, Xiaolong , Li, Zerong . Design and verification of a novel energy-efficient pump-valve primary-auxiliary electro-hydraulic steering system for multi-axle heavy vehicles . | ENERGY , 2024 , 312 . |
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Abstract ：
Heavy-duty vehicles with long bodies, a large number of axles and large loads are subject to increasingly high requirements for precise steering technology due to the increasing trend toward energy conservation and intelligent assisted driving as well as variable driving conditions. In this paper, an energy-efficient open circuit variable-speed pump-controlled steering system (OPCEHSSS) adapted for heavy loads is used, but its strong flow output nonlinearity and system nonlinear dynamic behavior greatly impede the steering performance. Therefore, in order to reduce the influence of the flow leakage of the fixed-displacement pump on the system and to ensure that the flow output of the system matches the control model, a mapping model based on the fitting of a two-layer neural network algorithm with a dynamic real-time compensation strategy (FNC) is proposed. In addition, considering the strong robustness of the system even under parameter uncertainty and unknown disturbance, a complex nonlinear mathematical model is established based on OPCEHSSS physical characteristics, and a dual-objective control strategy of steering angle and pressure based on sliding mode control (SMC) is proposed. However, in order to reduce the influence of high-order switching discontinuity on the steering and ensure the fast convergence of the control system, a fast super twisting algorithm (STA) based on double saturation function of the boundary layer is proposed. The experimental results show that the three different controllers can effectively reduce the steering angle error after the introduction of FNC. And in the case of a single axle loaded with 6 tons, the improved new FNC+STA integrated dual-objective control strategy improves the accuracy by 53.16% compared with PID and 40.67% compared with SMC. The steady-state error is maintained within 0.9 degrees, realizing the high-performance steering tracking control of OPCEHSSS for heavy vehicles.
Keyword ：
dual-objective control dual-objective control flow nonlinear mapping and compensation flow nonlinear mapping and compensation Heavy vehicle steering system Heavy vehicle steering system pump control system pump control system steering tracking steering tracking super twisting algorithm super twisting algorithm two-layer neural network algorithm two-layer neural network algorithm
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| GB/T 7714 | Lin, Xiezhao , Xu, Jun , Yu, Jianchao et al. High-performance steering tracking control of open circuit variable-speed pump-controlled steering system for heavy-duty vehicles based on flow nonlinearity compensation [J]. | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING , 2024 . |
| MLA | Lin, Xiezhao et al. "High-performance steering tracking control of open circuit variable-speed pump-controlled steering system for heavy-duty vehicles based on flow nonlinearity compensation" . | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING (2024) . |
| APA | Lin, Xiezhao , Xu, Jun , Yu, Jianchao , Zhang, Xiaolong , Zheng, Yulan , Li, Su et al. High-performance steering tracking control of open circuit variable-speed pump-controlled steering system for heavy-duty vehicles based on flow nonlinearity compensation . | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART D-JOURNAL OF AUTOMOBILE ENGINEERING , 2024 . |
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Abstract ：
Ensuring the stability of heavy multi-axle vehicles necessitates the accurate calibration and decoupling of Multiaxis Wheel Force Sensors (MWFS). Traditional methods often neglect the temporal coupling present in MWFS output data, leading to reduced accuracy. This paper introduces an Improved Decoupling Algorithm (IDI) based on the Informer network, designed to temporally decouple MWFS and enhance precision. The Decoupling embedding layer (DE) performs linear decoupling of the MWFS, while the Token embedding layer (TE) and Informer encoder extract timing coupling features. The highway network and linear fully-connected layer then provide nonlinear decoupling compensation. Experimental results demonstrate that the IDI algorithm significantly outperforms traditional methods like Extreme Learning Machine (ELM) and Back Propagation Network (BPNN), achieving at least a 41.12% improvement in accuracy in the highly coupled Mz channel. In conclusion, the IDI algorithm not only achieves high-precision decoupling of MWFS but also presents a robust framework for modeling various sensor types.
Keyword ：
Decoupling algorithm Decoupling algorithm Informer Informer Multi-axis Wheel Force Sensor Multi-axis Wheel Force Sensor Temporal coupling Temporal coupling
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| GB/T 7714 | Chen, Peiyang , Li, Yuzheng , Gao, Hao et al. Novel static decoupling algorithm for the multi-axis wheel force sensor based on the Informer network [J]. | MEASUREMENT , 2024 , 241 . |
| MLA | Chen, Peiyang et al. "Novel static decoupling algorithm for the multi-axis wheel force sensor based on the Informer network" . | MEASUREMENT 241 (2024) . |
| APA | Chen, Peiyang , Li, Yuzheng , Gao, Hao , Zhang, Xiaolong , Du, Heng , Ren, Tianyu . Novel static decoupling algorithm for the multi-axis wheel force sensor based on the Informer network . | MEASUREMENT , 2024 , 241 . |
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