A simplified model of the steering of a four-wheel drive vehicle is shown in Figure P7.26.

In this block diagram, the output r is the vehicle’s yaw rate, while δ_f and δ_r are the steering angles of the front and rear tires, respectively. In this model,

and K(s) is a controller to be designed. (Yin, 2007).

a. Assuming a step input for δ_f , find the minimum system type of the controller K(s) necessary so that in steady-state the error, as defined by the signal e in Figure P7.26, is zero if at all possible.

b. Assuming a step input for δ_f , find the system type of the controller K(s) necessary so that in steady state the error as defined by δf (∞) - r(∞) is zero if at all possible.

Transcribed Image Text:

G и (5) G, K FIGURE P7.26 Steering model for a four-wheel drive vehicle