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Modeling, Validation, and Control of Electronically Actuated Pitman Arm Steering for Armored Vehicle


Affiliations
1 Department of Mechanical Engineering, National Defense University of Malaysia (NDUM), Kem Sungai Besi, 57000 Kuala Lumpur, Malaysia
 

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

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Authors

Vimal Rau Aparow
Department of Mechanical Engineering, National Defense University of Malaysia (NDUM), Kem Sungai Besi, 57000 Kuala Lumpur, Malaysia
Khisbullah Hudha
Department of Mechanical Engineering, National Defense University of Malaysia (NDUM), Kem Sungai Besi, 57000 Kuala Lumpur, Malaysia
Zulkiffli Abd Kadir
Department of Mechanical Engineering, National Defense University of Malaysia (NDUM), Kem Sungai Besi, 57000 Kuala Lumpur, Malaysia
Megat Mohamad Hamdan Megat Ahmad
Department of Mechanical Engineering, National Defense University of Malaysia (NDUM), Kem Sungai Besi, 57000 Kuala Lumpur, Malaysia
Shohaimi Abdullah
Department of Mechanical Engineering, National Defense University of Malaysia (NDUM), Kem Sungai Besi, 57000 Kuala Lumpur, Malaysia

Abstract


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