DESIGN AND CONTROL OF THE 4WD SYSTEM AND 8WS SYSTEM OF

AUTOMOBILE FOR TRANSPORTING BRIFGE

Li Yunhua , Zhang Zhihua and Wang Zhanlin
Institute of Mechatronic Control, Beijing University of Aeronautics and Astronautics, Beijing, P.R. China
Tel/Fax: 010-82316053, E-mail: yunhua.l@263.net
Zhengzhou Dafang Bridge-Machine CO. LTD, Zhengzhou, P.R. China
Tel/Fax:0371-8883328, E-mail:dafang@public.zz.ha.cn

ABSTRACT originally designed for the detection and control of

Aiming at the requirement of 4WD(4 Wheels Drive)
system and 8WS(8 Wheels Steering) system of the
automobile, the mathematical model, design of the
controller, and engineering realization of controller
based on CAN(Controller Aerial Network) bus are
studied. The method of control and management, and
electronic operating panel (interface between driver and
main controller) are proposed. The theory of control and
synthesize for the MIMO control system with one
dimension reference input and n-1 dimension ratio
inputs is put forward. The conclusion here founded the
theoretical foundation of the hydraulic control system of
the engineering transporting truck.
Key Words: hydraulic control, automobile, computer
control, field bus control systems, controller aerial
network
INTRODUCTION
With the automation level, operating complexity, and
electrohydraulic control components of the automobile
on the increase, the control and management to its
mechatronic subsystem has become an imperative
problem. Because of field bus is of good operating
property and opening property, saving on link cable,
hardware cost and field assembling cost, an
electrohydraulic control system of automobile realized
by FCS(Field Bus Control System) has been noticed
greatly.
CAN is controller aerial network, it is a type of two-way
serial communication network based bus. It is of the
physical layer and data information link layer based on
OSI(open systems interconnection) model. CAN bus is
automobile by Germany Bosch Corporation. Because of
its excellent performance, high reliability, and unique
design, the famous automobile manufacture
corporations, for example BENZ, BMW, ROLLS-
ROYCE, etc., use CAN bus to realize the data
communication between the automobile control system
and the each of detection component and actuator.
In this paper, aiming the requirement of the truck for
transporting the box-beam of the bridge, a kind of the
microcomputer control systems based on CAN-FCS and
electrohydraulic control is proposed. This system is
called the microelectronic system of the truck for
transporting bridge. It has three sub-systems, i.e.,
traveling system, steering system, and horizontal
adjusting system, and two control units of monitor,
display, and operation which is separately laid in the
cabin to be set in the front end and the rear end of the
truck for transporting bridge. The traveling system has 4
driving sub-trucks, 4 follower sub-trucks, 8
electrohydraulic proportional variable displacement
driving motors and 2 electrohydraulic proportional
variable displacement pumps. The steering system is
belong to independent type system, it is consist of 8
electrohydraulic power steering mechanism. The
horizontal adjusting system has 8 supporting cylinders,
it can work in the 3 supporting points manner and 4
supporting points manner according to requirement.
Three systems above being mentioned can be all
controlled and managed by center operating unit
through CAN bus. The truck for transporting bridge and
the arrangement of control system is shown in Fig. 1.

Fig. 1 Scheme of the truck for transporting bridge

This paper is arranged as follows: part 1 is a summary
introduction and basic description of the truck for
transporting bridge, part 2 describes the general design
of CAN-FCS, part 3 is the control scheme design of the
travelling system, part 4 is the design of control scheme
of the independent steering system, part 5 is the design
of the control scheme of the horizontal adjusting
system, part 6 is the design of the control law when the
truck for transporting bridge is under the steer
operation, and the end is the conclusion of the paper.
DESIGN OF FCS OF THE TRUCK FOR
TRANSPORTING BRIDGE
The FCS of the truck for transporting bridge is shown in
Fig. 2.

variable
CAN-AO AMP
CAN-BUS motor 1

rpm
CAN-AI sensor

variable
control panel display CAN-AO AMP
motor 8

rpm
speed CAN-AI
sensor
lever
travel unit
airborne
PC pump solenoid
CAN-DO valve

motot solenoid
steer CAN-DO valve
disk
operating unit main pump
CAN-AI pressure

steer pump pressure

suspension
CAN-ADJ steer
horizontal AMP
motor£±
adjusting CAN-AO
cylinder
angle
sensor
horizontal
meter CAN-AI

steer
pressure CAN-ADJ AMP
motor£¸
tranducer CAN-AI

angle
sensor
steering
steer disk unit
engin CAN-AI angle
speed CAN-AI
cooling
CAN-DO solenoid
valve

Fig. 2 Scheme diagram of FCS of the truck for transporting bridge

(1) General Design
The FCS of the truck for transporting bridge has two
realization modes. Scheme 1 is the realization mode
based on airborne industrial control computer and RSM-
CAN. Scheme 2 is the realization mode based on the
CAN intelligent node and CAN-I/O node. Among of
them, scheme 1 is of the short developing period and
high reliability, but its cost is high. Scheme 2 needs to
design interface circuit card using CAN device and to
develop software according to CAN communication
agreement, but its cost is low and its technical
maintaining secrecy is good. Here the scheme 1 is used.
The connection of FCS of the truck for transporting
bridge is shown in Fig. 2. It consists of 4 sections, i.e.,
operating section, traveling control section, steering
control section, and horizontal adjusting section. Among
of them, the operating section has two set of unit with
same function, they are respectively set in the cabins to
be posited at the front end and rear end, and two units
can be locked each other.
(2) Human Interface
The excellent operating performance is one of the
important indexes to evaluating the performance of
automobile. In this truck, it has many kinds of motion,
e.g., direct traveling, inclined traveling, center steering,
front bridge and rear bridge steering, low speed
traveling, high speed traveling speed traveling, fine
slow traveling, etc., and the operating of the
electrohydraulic control system needs to set many input
parameters, for example, vehicle speed, steering speed,
steering radius, inclined angle, and so on. So to design a
human interface for finishing the connection between
driver and the central controller of electrohydraulic
control system is very essential.
The human interface is shown in Fig. 3. It consists of
many buttons, speed adjusting handle, operating wheel,
and so on.
 low speed centre steer angle march

high speed FW steer H-axis steer

jogging RW steer V-axis steer

condition
monitor

speed adjusting
lever

back set

operating
wheel
Fig. 3 Human Interface(Electronic operating panel)

CONTROL SCHEME DESIGN OF sub-cars. Each sub-car has two driving motor, and high
TRAVELING SYSTEM speed driving speed project is used. Its construction and
Traveling system has 4 driving sub-cars and 4 flower operation principle are shown in Fig. 4.
Single loop motor rotational speed control system has principle. They are respectively shown in Fig. 5 and Fig.
two modes. Mode 1 is the common parallel mode. Mode 6. Among of them, mode 2 is of good performance, and
2 is the parallel mode to be based on second adjusting simple realization construction of the controller.

status of road rpm-sensor

determine order single loop

traveling
controller
parameters rotional speed

CAN bus

Fig. 4 Block Diagram of Traveling Control System

 Qi Vm

PL 1
Lc s + C m s

Vm 1 ω
J m s + Bm

reference variable
Vm variable ω
input amplifier displacement displacement
mechanism motor

controll
law

rotational
speed sensor

average
speed

Fig. 5 Block Diagram of Single Loop Motor Control System(1)

TL
order
controll PWM-ampli variable 1 ω
D/A Ps
law fier mechanism
J m s + Bm

rotational speed
sensor

Fig. 6 Block Diagram of Single Loop Motor Control System(2)

DESIGN OF STEERING SYSTEM shown in Fig. 3. Among of them, the V-axis steering is
The steering system consists of 8 independent steering shown in Fig. 7. When driver operates the car to steer,
systems, each of them is all electrohydraulic position the button of steering station is first pressed, and then
servo system. It has 6 kinds of working station, and is the operating wheel is to be rotated.

sub-car

1
Ri1 Re1
L1

b
O
L0

R0 Oc

3 C1 C4

C0
L1

C2 C3
c

4
3

Fig. 7 Scheme of Steering System Fig. 8 Diagram of Supporting Mode

DESIGN OF HORIZONTAL ADJUSTING
SYSTEM
The horizontal adjusting system uses three points
support mode. It consists of liquid pendulum, amplifier
and filter circuit, controller, electrohydraulic
proportional direction and flow-rate valve, and cylinder.
The supporting mode is shown in Fig. 8.

DESIGN OF CONTROL LAW

When the truck is steered, the coordinated motion
control to traveling system and steering system is
necessary. In strictly speaking, this is an MIMO system.
Here, for acquiring the simple controller construction
and the fast processing time, the compound control law
with order compensating and internal loop feedback is
used.

CONCLUSIONS
This study proposes a kind of the structure and
realization method of the FCS for the truck based on
CAN bus, and its design method of three sub-systems is
discussed.
ACKNOWLEDGEMENT
This project is supported by the foundation of Beijing
Natural Science No. 3002008.
REFERENCES
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Automa-tion,Sacramento,California-April 1991
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Scheduling Machines and Vehicles in an FMS,
Proceedings of the 1991 IEEE International Conference
on Robotics and Automation, Sacramento, California-
April 1991
[3] Virginia Mary Lo, Heuristic Algorithms for Task
Assignment in Distributed Systems,
CH2021-4/84/0000/0030,1984,IEEE