GRD Journals- Global Research and Development Journal for Engineering | Volume 2 | Issue 8 | July 2017

ISSN: 2455-5703

Inverse Vehicle Dynamic Model of a Two

Wheeler with Power Steering:
A Graphical Approach
Desh Deepak Gautam
M. Tech Student
Department of Mechanical Engineering
Goel Institute of Technology & Management, Lucknow, India

Abstract
As the traffic is increasing day by day the chances of accidents are increased. These accidents are mostly happen due to human
errors. Development of inverse dynamic controller necessary as it can replace the driver and track the predefined path. A bond
graph model of a two wheeler vehicle is developed and in this model manual and electrical power steering systems are attached
and a comparison of both systems for evaluating the response is done. An inverse vehicle dynamics model is developed. This
inverse model gives a torque to this model to follow a predefined path. An expression is derived to compute the steering angle in
terms of longitudinal velocity and vehicle projectile rate for a predefine path. The inverse vehicle dynamics model is connected by
an overwhelming controller in such a way that the output of forward model is feedback to inverse two wheeler model. The vehicles
position is compared with the desired trajectory and the error signal is given to the inverse two wheeler model to produce the
desired output.
Keywords- Two Wheeler Model, Bond Graph Modeling, Electrical Power Steering, Ghost Controller, Inverse Two
Wheeler Model, Manual Steering, Overwhelming Controller

I. INTRODUCTION
Day by day numbers of vehicles on road are increasing by which roads are becoming congested and risky. 1.4 million People were
perished on the worlds roads in 2017[1] and this is intolerably high. Some changes in the transportation control system are
required. Most of the road accidents happen due to human errors. In mostly developed countries, transport infrastructure has been
improved. The advanced freeways are ten times securer than regular roads but it is not economically favorable to establish new
roads with intelligent traffic control systems. One of the options to encounter this problem is the entry of intelligent autonomous
vehicle. An autonomous vehicle is described as the vehicle which can move on its own or the one which is self-driven. An
intelligent vehicle is able to reduce 90% of road accidents that are caused by human error and can save human life.

A. Inverse Vehicle Dynamics

Inverse vehicle dynamics is combination of inverse model of vehicle along with actual vehicle. Forward and inverse dynamic
problem were first developed by Newton. The forward problem is to determine the kinematic parameters (position, velocity,
acceleration) of body subjected to given set of forces. The inverse problem is to determine forces that should be applied to body to
maintain the required kinematics parameters of the body in motion.

Fig. 1: Forward vehicle model

As shown in Fig. 1, input to the actual vehicle is steering angle and torque and the output is its centroid-position x, y,.
In the inverse model as shown in Fig. 2, the position is given as input; required torque and steering angle are determined
using control law.

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 Inverse Vehicle Dynamic Model of a Two Wheeler with Power Steering:A Graphical Approach
(GRDJE/ Volume 2 / Issue 8 / 004)

Fig. 2: The position is given as input

The inverse approach is used in many research and engineering fields, such as optical devices, geophysical inverse
methods, applications to spacecraft dynamics. Modern ground vehicle dynamics have been developed based on the forward
dynamics approach, which results in better understanding of kinematic response of vehicle subjected to applied forces. The control
of vehicle performance can be achieved using inverse approach.
In inverse vehicle dynamics system, the output of actual vehicle is feedback to the inverse model (shown in Fig. 3) which
is generally a controller whose input is predetermined. The vehicles position is compared with the desired trajectory and the error
signal is given to the controller to produce desired output.

Fig. 3: Inverse vehicle dynamics control system

II. RELATED WORK

Bond graph is a numerical tool to represent the systems structure. It is very flexible in modelling and formulates the equation of
systems. Bond graph is formulation of classical system dynamics with many complicated structure and stimulates the imagination
and abstract idea in integrated forms. Controller development for vehicles to improve the fuel efficiency, performance, handling
and safety, digital spark ignition, a nti-lock braking system, automatic gear changer are the example of latest vehicle technologies.
These all are based on some control algorithms. The controller development requires sensors, actuators, signal processing. A
vehicle model with all these parts is required to judge the control law developed by researchers. Bond graph is suitable for
modelling an electronic control and electrical actuator attached with mechanical vehicle model. In bond graph system models are
represented by symbols, lines and power flow information [3].
To develop the control algorithms for road vehicle, rail vehicle, high speed complex large machines, machine tool or
industrial robots, modelling and simulation is an inexpensive method. The large mechanical systems built up by finite number of
rigid bodies interconnected by arbitrary joint. The study rotational or translational motion damping, compliance, inertial properties
of subsystem are required. In classical mechanics many method are exist by which system differential equation can be derived for
a system. Classical mechanics methods are labour-intensive and consequently error prone [15]. Bond graph is a unified and
graphical method to represent dynamic systems. Bond graph is based on the fact that physical system can express in term of four
generalized variables effort, flow, displacement and momentum [16].
Vehicle design and development is a costly and time consuming process. Vehicle development process requires a
comprehensive analysis of system to determine the dynamic characteristics. In case of hybrid power trains vehicles development
process becomes more time consuming and clumsy due to complexity and large number of subcomponent. In bond graph, system
models are developed by consideration of energy flow and easy for modelling the hybrid systems. Bond graph model denotes
subsystems, system component and element connected by power bond. The nodes of the power bonds called power port at which
energy can enter or leave. Bond graph model provides a lot of information about mathematical model and has ability to transform
in mathematical models like as transfer function, Lagrange equations, descriptor equation if needed. Bond graph is easy method
for a modular modelling and hierarchical modelling is possible by coupling the component and subsystems through their
connecting ports. Bond graph is allows both causal and behavioural process analysis.

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 Inverse Vehicle Dynamic Model of a Two Wheeler with Power Steering:A Graphical Approach
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III. INVERSE VEHICLE MODEL TWO WHEELER

An inverse vehicle model gives the required torque according to command trajectory. The command trajectory coordinates and
vehicle orientation are in global coordinate system while steering angle will be in inertial coordinate. The derivative of global
displacements gives the longitudinal and transverse velocities of vehicle with respect to global coordinate system. The velocities
with respect to inertial frame are drawn by transformation matrix.

Fig. 4: inverse vehicle model

The inverse bond graph model of a bicycle vehicle model, Path co - ordinates X, Y and orientation of vehicle I (input to inverse
model) are shown by MSf : X, MSf : Y and MSf : i respectively. I : J i is the virtual polar moment of inertial of inverse
vehicle model about Z-axis, I : mi is the virtual mass of inverse vehicle model. I : J r i and It is seen that the inner wheel is required
to travel through a greater angle i ) than the outer wheel angle o)The equation for correct steering is given by

(1.1)

A. Hydraulic Power Steering

Two decades before when power steering technique was not popular, very large driving torque was required for driving the steering
wheel. An external actuator is used to generate steering effort and this kind of system is called power steering. Hydraulic power
steering (HPS) system was invented first. In hydraulic power steering, a pump provides assist force and hydraulic power steering
system gives a straight line motion to rack and pinion mechanism to change the direction of wheel. The slight movement of the
steering wheel actuates a valve so that fluid under pressure from reservoir enters the appropriate side of the cylinder and thereby,
applying pressure on one side of the piston to operate the steering linkage which steers the wheel in the appropriate direction.

B. Electrical Hydraulic Power Steering

As technique progresses, a hybrid form of electrically controlled hybrid power steering system (HPS) was developed. In HPS,
electrically controlled hydraulic valves are used. Electrically controlled Hydraulic power steering still has following problems:
- Hydraulic vanes leakage.
- Check and change of oil on regular time
- Hydraulic pump, hydraulic oil storage tank, vanes, valves increase weight and required large space.
- Response time is little more.
- Hydraulic pump draws power continuously from engine i.e., fuel efficiency decreases

IV. PRINCIPLE OF WORK

Modeling and simulation by bond graph modeling is discussed. Modelling and Simulation is an important task to analyse the
system that is not physical built. Simulation of system and surrounding gives the information of system dynamic, ensures safety
of the system and avoids cost of redesign. Bond graph model maps the effort and flow. Power is time derivative of energy since
flow energy in a system can easily calculated by study of power in a system. Power is convenient entity to model the system built
with multiple domain. The multidisciplinary system can easily analysed by bond graph methodology. This modeling technique is
based on the fundaments of power flow between nodal elements.
Power = force effort

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 Inverse Vehicle Dynamic Model of a Two Wheeler with Power Steering:A Graphical Approach
(GRDJE/ Volume 2 / Issue 8 / 004)

Fig. 5: Bond graph

Simulation result of bicycle vehicle model with manual steering

(a) (b)

(c) (d)

Fig. 6: (a) Angular velocity of front wheel, (b) Angular velocity of rear wheel, (c) Longitudinal velocity vehicle, (d) Transverse velocity
vehicle

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 Inverse Vehicle Dynamic Model of a Two Wheeler with Power Steering:A Graphical Approach
(GRDJE/ Volume 2 / Issue 8 / 004)

V. CONCLUSION AND RESULT

The main objective of this thesis was to develop an inverse vehicle dynamic controller which gives the required torque to get a
predefined kinematic response of a bicycle vehicle.
Bond graph modeling of electrical power steering and bond graph modeling of vehicle is considered in chapret2. Bond
graph modeling of multi body system and bond graph modeling of vehicle are considered in chapter 3. In chapter 4 by bond graph
modeling a comparative study of electrical power steering and manual steering with bond graph model of bicycle vehicle is done.
The response of electrical power steering is faster than manual steering.
In chapter ghost controller, overwhelming controller and bicycle vehicle inverse model simulation shows the performance.
Overwhelming controller is able to solve the robustness problem of forward model.

VI. FUTURE SCOPE

Based on this thesis the following area of work are suggested for future exploration.
- This work can extended to develop autonomous four wheel vehicle model to trajectory tracking.
- Electrical system may be used in four wheel vehicle body to get better steering response
- This thesis is limited to small steering angle and low velocity of vehicle because at large steering angle there is side slip which
effect the vehicle steering. In case of large side slip, vehicle does not follow Ackermann steering condition

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