In this study, 2 DOF mathematical models of Pitman arm steering system are derived using Newton�s law of motion and modeled\nin MATLAB/SIMULINK software. The developed steering model is included with a DC motor model which is directly attached\nto the steering column. The Pitman arm steering model is then validated with actual Pitman arm steering test rig using various\nlateral inputs such as double lane change, step steer, and slalom test.Meanwhile, a position tracking control method has been used\nin order to evaluate the effectiveness of the validated model to be implemented in active safety system of a heavy vehicle. The\nsimilar method has been used to test the actual Pitman arm steering mechanism using hardware-in-the-loop simulation (HILS)\ntechnique. Additional friction compensation is added in the HILS technique in order to minimize the frictional effects that occur\nin the mechanical configuration of the DC motor and Pitman arm steering. The performance of the electronically actuated Pitman\narms teering system can be used to develop a firing-on-the-move actuator (FOMA) for an armored vehicle.The FOMA can be used\nas an active safety system to reject unwanted yaw motion due to the firing force.
Loading....