Department of Mechanical and Electro-Mechanical

Engineering National Sun Yat-sen University

Master Thesis

Model establish and controller design for active front steering

control system

Chin-yuan Hsiao

Dr.Yih-Tun Tseng

101 7
July 2012

ii

(Active Front Steering, AFS)

(magic formula tire model)

iii

Abstract
The goal of this thesis is to develop an active front steering(AFS) control system
which can apply to ordinary vehicle. This AFS control system stabilizes the driving
vehicle and reduces the possibility of rollover. This thesis uses magic formula tire model
and constructs a vehicle model with eight degrees of freedom to study the dynamic
behavior of the real driving vehicle. This thesis constructs a vehicle model with three
degrees of freedom and eight degree of freedom, compare with two vehicle model, we
adopt eight vehicle model in this thesis. The advantages of PI controller are low cost
and easy to modify, so this thesis adopts PI controller as the control strategy. This study
uses four simulate methods and compares the simulated results to develop the AFS
control system which can apply to ordinary vehicle.

Keywords: Active front steering, Vehicle model, Vehicle rollover, PI control, tire
model

iv

i
.......................ii
..iii
Abstract.....iv

...v

.....vii

...x

..xi

....1
1.1

......1

1.2

......3

1.3

......3

....5
2.1

2.2

-.....5
2.1.1

.5

2.1.2

..7
2.2.1

.8

2.2.2

...10

2.2.3

..11

2.2.4

...14

..17
3.1

....17
v

3.2

26

..28
4.1

....28

4.2

43

4.3

45

..46
5.1

46

5.2

....47
5.2.1

...48

5.2.2 PI ...51
5.3

53
5.3.1

(J-turn) ..55

5.3.2

(Lane change) ...58

5.3.3

...64

5.3.4

...69

..71
6.1

71

6.2

72

.74

.....80

vi

1.1

..1

1.2

(SUV)...2

1.3

..3

2.1

..6

2.2

..7

2.3 DDAS ..8

2.4

Fuzzy ...9

2.5

PID ...9

2.6

10

2.7 LPV 11
2.8 TTR 11
2.9

AFS Fuzzy .....12

2.10

AFS .....12

2.11 AFS Mu ...13

2.12

AFS Fractional order PID ....13

2.13 AFS PID ..14

2.14

AFS+DYC ...15

2.15

AFS+DYC ...15

2.16 AFS+DYC H /H ......16

3.1 ..18
3.2 ..18
3.3 ...19
3.4 ..24
vii

 3.5 ..26
3.6 ......27
3.7 ..27
4.1 ..29
4.2 ..30
4.3 ..33
4.4 ..38
4.5 ..40
4.6 ..41
4.7 ..42
4.8 ..43
4.9 ..44
4.10 44
5.1 AFS ...47
5.2 AFS ...48
5.3 ......48
5.4 PI ...52
5.5 PI .......52
5.6 (J-turn)..55
5.7 ..55
5.8 (40km/h)...56
5.9 (40km/h)() LTR() .57
5.10 (80km/h).58
5.11 (80km/h)() LTR() ...58
5.12 (Lane change).59
5.13 59
viii

 5.14 ISO 3888-1 .....60

5.15 (40km/h).61
5.16 (40km/h).....62
5.17 (40km/h)() LTR() ..62
5.18 (80km/h).63
5.19 (80km/h).64
5.20 (80km/h)() LTR() ...64
5.21 ....65
5.22 (40km/h)()() ...66
5.23 (40km/h).67
5.24 (80km/h)()()68
5.25 (80km/h).68
5.26 (Rollover)...69
5.27 (12 )() LTR()....70
5.28 (16 )() LTR()70
6.1 ..73
6.2 ..73

ix

4.1

37

5.1

54

5.2 ISO 3888-1 (m) ..60

5.3 ISO 2631-1 65

m
m
m
g
I
I
I /
V
V
a
a
F
F
M
M
M

h
l
l
w
xi

V
L
a

,CH

,CH

h
K
C
K
K
C
C
T()

R
I

F
F
FZFL
FZFR
FZRL
FZRR
B ,
C ,
xii

D ,
E ,


FSF
FSR

VCOG
F
R

FL
FR

xiii

1.1

3700
33%

1.1


(Rollover)

(sport utility vehicle, SUV)

1.2

1.2 (SUV)

(tripping rollover)

(skid)
(untripped rollover)

1.3

1.2

1.3

2.1 -

(bicycle
model)(four wheel model)
(yaw rate)

(pitch)

2.1.1

R.M.H. Cheng(1992)[1]

3m/s
Ferhat Saglam(2011)[2]

Magic Formula tire model

ADAMS
Kyongsu Yi(2007)[3]Wang Jian(2009)[4]H. Dahmani(2011)[5]

2.1

2.1

2.1.2

D. W. PI(2011)[6]Li Jun(2011)[7]Bin Li(2007)[8]

2.3
(Steer-By-Wire)
3m/s

H. B. Pacejka (1997)[9] MF MF
(Lane change)
(Double lane change)(J-turn)ABS
MF

2.2

2.2

2.2.1

Lifu Wang(2009)[10]
DDAS(Demand Dependent Active Suspension) 2.3

2.3 DDAS

Zulkiffli Abd.Kadir(2011)[11]S.Ikenaga(2000)[12]


Fuzzy
2.4

2.4 Fuzzy

Fauzi bin Ahmad(2009)[13]Mochamad Safarudin(2010)[14]

PID

2.5

2.5 PID
9

2.2.2

Selim Solmaz(2008)[15]

2.6 LTR(Load Transfer Ratio)

2.6

P. Gaspar(2005)[16]

(LPV) 2.7
10

 2.7 LPV

Bo-Chiuan Chen(2001)[17] Time-To-Rollover(TTR)

TTR
X TTR
2.8 TTR

2.8 TTR

2.2.3

(AFS)(EPS)(SBW)
AFS

AFS
11

Qiang Li(2010)[18](Fuzzy)

2.9

2.9 AFS Fuzzy

Nor Maniha Ghani(2006)[19]

(pole placement) LQR(linear quadratic regulator)
2.10
Jianhua Guo(2010)[20]
(AFS)(ESP)

2.10 AFS

12

Xiujian Yang(2011)[21]Yuan Chao-chun (2010)[22](Robust)

Xiujian Yang(2011)[21]
H
Yuan Chao-chun (2010)[22] Mu
2.11

2.11 AFS Mu

Qiang Li(2009)[23] Fractional-order PID AFS

2.12 PID PI D

2.12 AFS Fractional order PID

13

Fu Xiuwei(2009)[24]
PID
PID AFS 2.13

2.13 AFS PID

2.2.4

AFS (DYC,
Direct Yaw Control)DYC

DYC
Lixia Zhang(2009)[25]Aijun Hu(2011)[26](SMC)
2.14
DYC
AFS

14

 2.14 AFS+DYC

R. Karbalaei(2007)[27]Jiang Wei(2006)[28](Fuzzy)
AFS+DYC
DYC
AFS AFS
AFS+DYC DYC
2.15

2.15 AFS+DYC

Aijun Hu(2010)[29](Robust) AFS+DYC

H /H H
H
2.16

15

 2.16 AFS+DYC H /H

16

3.1

3.1

1.
2.
3.
4.
5.
6.

7. .

17

3.1

3.2 3.3 XY
YZ

L
Fr

lr
r

lf

Ff

X
f f

Y
3.2

18

hs

ms g

Z
K , C

Fzr

Fzl

3.3

(3.1)

(sprung mass, m )
(unsprung mass, m )
m

(3.2)

(3.2)(3.1)

(3.3)
19

1. X u
2. Y v
3. Z w
4. X p
5. Y q
6. Z

(3.4)

(3.5)

o
(3.5)

(3.6)

20

 Y (3.6)

(3.7)

(3.3)

(3.8)

3.2

(3.9)

(3.10)

(3.11)

(3.12)

21

(3.13)

(3.14)

(3.14)(3.10)

(3.15)

3.2 z (3.15)

(3.16)

(3.17)

(3.11)(3.11)

(3.18)
22

(3.14)

(3.19)

(3.7)

(3.20)

x (3.20)

(3.21)

sin

K C

(3.22)

(3.9)(3.16)

23

(3.23)

(3.24)

3.4

3.4(3.25)(3.26)

(2.25)
(2.26)

24

(3.25)(3.26)

(3.27)
(3.28)

(3.23)(3.24)

(3.29)

(3.30)

2
2

2
2

(3.31)
(3.32)
(3.33)

25

3.2

3.1
Matlab/Simulink 3.5

1
s
Vy

yaw
t
To Workspace

Clock

To Workspace3

Scope
1
s
Yaw rate

Product

16.67

Add
Divide

Vx
2325
m
pi
steering angle

Ramp

Gain

Divide2

1.05

f ront wheel f orce

180
Lf

Vx

Ramp1

Divide1

Constant
3500
Iz

Vy

1.75

rear wheel f orce

Lr

y aw rate

Subsystem
25
Ixz
2090
Add1

0.6

ms1

hs1

25
Ixz1
86000
K
1
s

1
s

roll rate

roll angle

2090

9.8
g

ms
Scope1

0.6
hs

5400
C

3.5

26

Add2

[18][21]
3.6
3.7

0.05

-0.01
0

Roll rate (rad/s)

Roll angle (rad)

-0.02

-0.03

-0.04

-0.05

-0.1

-0.05
-0.15

-0.06

-0.07

10

15

-0.2

Time (s)

10

Time (s)

3.6

3.7

27

15

Magic formula

4.1

4.1
4.1

28

4
4.1

1.
2.
3.
4.
5.

6. .

29

hs

ms g

Fb3
Fb4

Fa3

K , C

Fa4

lr

Z
Fb1

lf

Fa1

Fb2

Fa2
4.2

(4.1)

30

(3.7)

(4.2)

(4.2)

(4.3)

(4.4)

(4.5)

(4.5)

(4.6)

(4.7)

31

(4.8)

z (4.7)

(4.9)

(4.10)

(4.7)(4.10)

(4.11)

(3.14)

(4.12)

x (4.10)

32

(4.13)

sin

K C

(4.14)

F F 1,2,3,4
m m m
I I w
l l I /
h K K
C C

4.3
(4.17)~(4.20)

Ti
Rw

Fai
Fzi
4.3

33

(4.15)

(4.15)
(4.16)

(4.16)

(4.17)
(4.18)
(4.19)
(4.20)

I R T
()

34

(4.21)

(4.22)

(4.23)
(4.24)
(4.25)
(4.26)
(4.27)
(4.28)

(4.21)~(4.28)

35


3 ~5 0.4g
Pacejka Magic formula tire

(4.29)(4.30)
(F )

1,2,3,4 (4.29)

1,2,3,4 (4.30)

B , C , D ,
E ,

Magic formula [39]

36

 4.1

22

1940
645

22

1940
430

1.35

1940
16125

1.35

1940
16125

2000

1940
0.956

1750

1940
0.956

-3.6

0.1

22

1.26
0.0003

5200
4000
5200
32750
1.8096

22.73

-1.6

Magic formula tire (4.29)(4.30)

4.1

37

 4.4
4.4

Vi

4.4

(4.31)
(4.32)
(4.33)
(4.34)

(slip ratio)

38

()
i

1,2,3,4

(4.35)

1,2,3,4

(4.36)

4.2

(4.37)
(4.38)
(4.39)
(4.40)

[35]
a

,CH a ,CH

(4.41)

(4.42)

39


4.5

max,CH

hcg

FZF

lr

lf

FZR

4.5

4.5

(4.43)

(4.45)

(4.46)

(4.47)

4.6

40

m* ay,CH

hcg
m* g

FZFR

FZFL

4.6

(4.48)

(4.48)m 4.6

(4.49)

(4.50)

(4.51)

(4.52)

(4.46)(4.47)(4.48)

41

(4.53)
(
(4.54)
(
(4.55)
(
(4.56)
(

h
h

(4.299)(4.30)

4.7

8--DOF

MATLAB/sim
M
mulink
8-DOF

( )

(T
T )

42

4.2

4.1
Matlab/Simulink 4.8
[18]

pi
delta

wheel angle

Gain

Divide

Fxf l

180

Vy 1

Fy f l

Constant1

Fzf l

Fzf l
Fy f r

ax
Fxf l
Fxf r
Fzf r

Fzf r

Fzrl

Fzrl

Fxrl
Fxrr

Fy f l

ax
ay

Vy
Fzrr

Fzrr
y aw v
Fy f r

tire force( vertical )

x-direction
delta

FL slip angle

FL slip

FR slip angle

FR slip

delta

Fxf l

33.33

Vx

Fxf r

y aw v

Vx1

Fy f l
Vy
RL slip angle

Fxf r

RL slip
Fxrl

y aw rate

Fy f r
RR slip angle

RR slip

y aw a

delta
Fxf l

wf l

Fxrr
Saf l

Memory1
wf r

w fr

wrl

w rl

roll a

Fxrr
Saf r

Saf r

Fxf r

Fy rl

Mz

Fxrr

Fy rr

Fy f r
wrr

Sarl

Sarl

Sarr

Sarr

ay
Fy rl

w rr

Memory2

Fy rr

ay

Fy rl

Fy f l

Fxrl

600

roll s

Vy

Fxf l
Saf l

Fxf r

y aw a

Fxrl

w fl

Fy rr

wheel
0.85
width/2

width/2

slip angle and longitudinal slip

tire force( lateral and long )

33.33
Vx

Vx
y aw v
roll a

y-direction

4.8

43

Sy

roll a

yaw plane

roll plane

4.9 [18]

1 30km//h
0.8[18]

30km/h
0.005

0.1

0.08

-0.005

Sideslip angle(rad)

Yaw rate(rad/s)

30km/h
0.12

0.06

0.04

0.02

-0.01

-0.015

-0.02

-0.025

Time(s)

Time(s)

4.9

4.10

44

4.3

5 60kmh

4.10

0.4

0.35

Yaw rate (rad/s)

0.3

0.25

0.2

0.15

0.1

3-DOF

0.05

8-DOF
0

Time (s)

4.10
45

10

(AFS, Active Front Steering )

5.1

BMW
BMW 5

46

 181
18 1 AFS
101
201
5.1 AFS

5.1 AFS

5.2

47

(5.1)

(5.1) AFS
AFS

fd

f
model

5.2 AFS

5.2.1

[35]

y y z
5.3

VCOG

R
FSR

FSF

lf

lr

L
5.3
48

Y
X

(5.2)

(5.3)

(5.4)
(5.5)

(5.6)
(5.7)

(5.6)(5.7)
5.3 5.3

(5.8)

(5.9)

5
sin

cos

(5.10)

49

(5.6)(5.7)

(5.11)

(5.12)

(5.11)(5.12)(5.3)(5.5)

(5.13)
(5.14)

(5.15)

(5.16)

m I VCOG
l l CF CR

(4.15)

50

(5.17)

(5.18)

[35]

0.85

(5.19)

5.2.2 PI

PI
-(PI)
PI
[34] 1998
90% PID PID
4.1 Matlab/Simulink
AFS PI

PI
51

(5.20) PI

(5.20)

(5.20) k k
5.4 PI

Kp

Delta yaw rate

Delta angle

Saturation
ki

Add

1
s
Integrator

5.4 PI

PI
Matlab/Simulink

Front wheel angle

Angle
Front wheel angle
(driver)

angle

y aw rate

Delta y aw rate

y aw rate

Delta angle

Add
Reference model

PI controller

5.5 PI
52

8-DOF vehicle model

5.3

(AFS)
ISO
[30][31] LTR(Loading Transfer Ratio)
LTR

LTR(Loading Transfer Ratio)[30][31]

FL FR

LTR
LTR 0LTR
1 -1 0

0.8
[6]

53

 5.1

2325 kg

ms

2090 kg

9.8 m/s

750 kgm

3500 kgm

25 kgm

2.1 kgm

1.7 m

1.05 m

1.75 m

0.925 m

0.6 m

0.35 m

86000 Nm/rad

5400 Nms/rad

54

5.3.1 (J-turn)

(J-turn)

40km/h 80km/h
5.7

5.6 (J-turn)

Steering angle (deg)

Time(s)

5.7
55

10

(40km/h)

(AFS)
15%

0.22

0.71 LTR AFS

AFS

(40km/h) 40km/h 2
5 (

0.8)PI K =5K =0.2

K K

40km/h

0.25

Yaw rate (rad/s)

0.2

0.15

0.1

PI control
0.05

no control
reference

Time(s)

5.8 (40km/h)
56

10

40km/h

40km/h

0.04

PI control
-0.02

0.035

no control
-0.04

0.03

-0.08

LTR

Roll angle (rad)

-0.06

0.025

0.02

-0.1
-0.12

0.015

-0.14

0.01
-0.16

PI control
0.005

-0.18

no control
0

-0.2

10

10

Time(s)

Time(s)

5.9 (40km/h)() LTR()

(80km/h)

5.10 5.11
7%
40km/h
0.3

0.3528

40km/h
LTR AFS
AFS
LTR

(80km/h) 80km/h 2
5 (
K K

57

0.8)PI K =0.5K =0.2

80km/h
0.35

0.3

Yaw rate (rad/s)

0.25

0.2

0.15

0.1

PI control
0.05

no control
reference

10

Time(s)

5.10 (80km/h)

80km/h

80km/h

0.1

PI control

0.09

no control

-0.1
0.08

-0.2

0.06

-0.3

LTR

Roll angle (rad)

0.07

0.05

-0.4
0.04

0.03

-0.5

0.02

PI control
0.01

-0.6

no control
-0.7
0

10

10

Time(s)

Time(s)

5.11 (80km/h)() LTR()

5.2 (Lane change)

(Lane change)
5.12
5.13
58

 5.12 (Lane change)

Steering angle (deg)

-2

-4

-6

10

Time(s)

5.13

ISO ISO
3888-1
ISO/TR 3888-1
5.14 5.2
1.7m 125m

59

 5.14 ISO 3888-1

5.2 ISO 3888-1 (m)

25

3.5

1.2+0.25

25

15

1.3+0.25

15

1.3+0.25

15

1.1*+0.25

30

60

(40km/h)

5.16

0.29

0.7056

LTR
AFS

(40km/h) 40km/h ISO

0.8)PI K =5K =0.2

(
K K

40km/h
0.3

0.2

Yaw rate (rad/s)

0.1

-0.1

-0.2

PI control
-0.3

-0.4

no control
reference
0

Time(s)

5.15 (40km/h)
61

10

40km/h
5

PI control
no control

Y position(m)

-1

20

40

60

80

100

120

140

X position(m)

5.16 (40km/h)

40km/h

40km/h

0.06

0.25

PI control
0.2

no control

0.04

0.15
0.1
0.05

LTR

Roll angle (rad)

0.02

0
-0.05

-0.02

-0.1
-0.15
-0.04

PI control
-0.2

no control
-0.06

-0.25

10

Time(s)

10

Time(s)

5.17 (40km/h)() LTR()

(80km/h)

5.18
5.19

AFS
LTR
62

 AFS
40km/h

AFS
0.3
.

0.3528

(80km/h) 80km/h ISO

0.8)PI K =0.5K =0.2

(
K K

80km/h
0.4

0.3

Yaw rate (rad/s)

0.2

0.1

-0.1

-0.2

PI control
no control

-0.3

reference
-0.4

Time(s)

5.18 (80km/h)

63

10

80km/h
5

PI control
no control

Y position(m)

-1

20

40

60

80

100

120

140

X position(m)

5.19 (80km/h)

80km/h

80km/h

0.15

0.6

0.1

0.4

0.05

0.2

no control

LTR

Roll angle (rad)

PI control

-0.05

-0.2

-0.1

-0.4

PI control

-0.15

-0.6

no control
-0.2

-0.8

10

Time(s)

10

Time(s)

5.20 (80km/h)() LTR()

5.3

ISO 2631-1

64

 5.3 ISO 2631-1

0.315m/s

0.315m/s ~0.63m/s

0.5m/s ~1m/s

0.8m/s ~1.6m/s

1.25m/s ~2.5m/s

2m/s

5.3
5.21

Steering angle (deg)

-1

-2

-3

-4

Time(s)

5.21

65

10

(40km/h)
5.22

5.3
5.23
2m/s

2m/s

(40km/h) 40km/h S
(

0.8)PI K =5K =0.2K K

40km/h

40km/h
0.4

0.1

PI control
no control

PI control

0.08

no control
0.06

0.2

Roll acceleration (rad/s2)

Yaw acceleration (rad/s2)

0.3

0.1

-0.1

-0.2

0.04
0.02
0
-0.02
-0.04

-0.3

-0.4

-0.06

-0.08

10

Time(s)

Time(s)

5.22 (40km/h)()()

66

10

40km/h
4

PI control

Lateral acceleration (m/s2)

no control

-1

-2

-3

-4

10

Time(s)

5.23 (40km/h)

(80km/h)
5.24

40km/h 2

5.25

(80km/h) 80km/h S
(

0.8)PI K =0.5K =0.2K K

67

80km/h

80km/h

0.3

0.8

PI control

PI control
0.6

no control

no control

0.2

Roll acceleration (rad/s2)

0.2

-0.2

0.1

-0.1

-0.2
-0.4

-0.3

-0.6

-0.8

-0.4

10

Time(s)

Time(s)

5.24 (80km/h)()()

80km/h
8

PI control
6

no control

Lateral acceleration (m/s2)

Yaw acceleration (rad/s2)

0.4

-2

-4

-6

-8

Time(s)

5.25 (80km/h)

68

10

10

5.4

5.18
AFS
LTR

5.26 (Rollover)

100km/h 2 1216 5.27

2 LTR

AFS 0.13 100km/h

3.6 5.28
0.03 0.8

AFS AFS

69

 100km/h
(

0.8)PI K =0.5K =0.2K K

(12 )

100km/h

100km/h
1.2

0.8

PI control
0.7

no control
1

0.6

LTR

Roll angle (rad)

0.8
0.5

0.4

0.6

0.3

0.4
0.2

PI control

0.2
0.1

no control

0
1.95

2.05

2.1

0
1.9

2.15

1.95

2.05

Time(s)

2.1

2.15

2.2

Time(s)

5.27 (12 )() LTR()

(16 )

100km/h

100km/h
0.8

1.2

PI control
0.7

no control

0.6

LTR

Roll angle (rad)

0.8
0.5

0.4

0.6

0.3

0.4
0.2

0.2

PI control
no control

0.1

1.96

1.98

2.02

2.04

2.06

0
1.985

1.99

1.995

Time(s)

Time(s)

5.28 (16 )() LTR()

70

2.005

2.01

6.1
(1) (AFS)

(2) Magic formula tire model

(3)
LTR AFS
LTR

(4)

AFS
(5) AFS

(6) AFS
AFS

(7)

71

6.2

14 6.1

6.2
AFS

72

 6.1

6.2

73

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[40] , ,
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, 2008
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[43] , ,
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[44] , ,
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79

angle

sin

angle1

cos

1
delta

angle

3
Fyfl
Product

4
Fyfr

2
Fxfl
-1

Product1

Divide
Product3

Fxfr

Gain2

Scope

6
2325

Fxrl

vehicle mass
7
Fxrr
ax angle

8
-1

Vy
Product2

1
ax

Gain1

9
yaw v

angle

sin

angle1

cos

1
delta
slip
angle

To Workspace2

Scope6

2
Fxfl
Product

tan

8.33

Fxfr

Divide2Trigonometric
Function

Vx1

Scope2

Scope3

Fyfl
Product1

5
Fyfr

1
s

Divide1
2325

1
Vy

Integrator

Add1

Scope7

Fyrl

Vehicle mass

7
Scope4

Fyrr
ay angle

Vx
Add

Product2
9
yaw v

10

2090

roll a
ms

0.6
h

Divide

2325
m

80

Scope5

ay

slip angle


angle

sin

angle1

cos

1
delta

z
To Workspace4

angle

2
Scope2

Fxfl
1
s

4
Fxfr

Integrator1

Scope1

1.05
1
Product

D to front axle

yaw v

Fyfl
5

1
s

Fyfr

Integrator

Mz

2
Divide1

yaw a

Add

0.85
3500
track width/2
yaw inertia Iz
Product1

Scope6

10

25

roll a
6

Ixz

yaw

Divide

3500

Fxrl

Iz

8
Fxrr
7
Fyrl

1.75

D to rear axle

Fyrr

25

yaw a
Ixz

2090

ay

ms

0.6
h
Divide

1
s

1
s

Integrator

Integrator1

750
Add
9.8

2090

0.6

Product1

Ix
2
roll a

ms1

h1
86000
K

5400

Product

81

Scope8

roll s

Fzf l

Fzfl

FxFL

Saf l

1
Fxfl

Safl
Subsystem1
2

Scope1

Scope3

Fzf l

Fzfr

FxFL

10

Saf l

Safr

4
Fxfr

Subsystem2

Scope7
3

Scope8

Fzf l

Fzrl

FxFL

11

Saf l

Sarl

5
Fxrl

Subsystem3
Scope2

Scope4

Fzf l

Fzrr

FxFL

12

Saf l

Sarr

6
Fxrr

Subsystem4
Fz
To Workspace
Fzf l
Fy FL

FL slip

2
Fyfl

FL slip
Subsystem5

Scope5

Fzf l
Fy FL

FL slip

3
Fyfr

FR slip
Subsystem6

Scope9

Fzf l
Fy FL

FL slip

7
Fyrl

RL slip
Subsystem8
Scope6

Fzf l
Fy FL

FL slip

RR slip
Subsystem9

82

8
Fyrr

0.925

2090
1

ax

ms

hs

2.8

Fzfl

Divide1

Fzfr
L1

2325

Gain1

9.8

1.75

Lr

2.8

Gain

0.925

ay

Divide

2090

hs1

1.75

ms1

Lr1

1.7

2.8

tf

0.925

Divide2

L2

2090
3

hs2

ms2

Divide3

2.8

L3

Gain2

Fzrl

4
Fzrr

2325
m1

0.925
hs3

9.8

1.05

g1

Lf

Divide4

2.8

L4

Gain3

2090

1.05

ms3

1.7
tr

Lf1

Divide5

2.8
L5

83

delta

FL slip angle

delta

FL slip angle

Vy

Vy

Scope1

FR slip angle

FR slip angle
4

y aw rate

yaw rate
Scope8
3

RL slip angle

RL slip angle

Vx

Vx
Scope2
4

RR slip angle

width/2

RR slip angle

width/2
Subsystem

cos

cos

cos

cos

Trigonometric
Function

Trigonometric
Function1

Trigonometric
Function2

Trigonometric
Function3

1.05
Lf * yaw

sqrt

Vy + Lf * yaw
Product1
Add3

Product5

Vfl

Safl
Divide
Scope5

sqrt
1.75

Add

Lr * yaw

Vy - Lr * yaw

Product6

Vfr

Scope3

Safr
Divide1

Product3
Scope15

sqrt
w/2 * yaw

Vx + w/2 * yaw

Add1

Product2

Product7

Vrl

Sarl
Divide2

Scope7
Scope4

sqrt
Vx - w/2 * yaw

Add2

Product4

Product8

Vrr

Sarr
Divide3

5
w fl
6
0.3

w fr
7

Rw

w rl
8
w rr

Scope6

Scope10

1
Fxfl

0.3

1
s

Rw1

Divide9
Scope3

Integrator5

wfl

2.1
Iw

Scope5
Scope1

Scope4
2
Fxfr

0.3

1
s

Rw2

Divide1

Integrator6

wfr

2.1
Iw1
Scope6

Scope9
3
Fxrl

1
s

0.3
Add

Rw3

2.1
5

Divide2

Integrator7

3
wrl

Iw2

T
Scope7
Scope2
Scope10
4
Fxrr

1
s

0.3
Rw4

Add1
Divide3

Integrator8

2.1
Iw3
Scope8

84

4
wrr