Perpustakaan Digital ITB

This paper proposes an estimation of slip angle at four wheel steering system (4WS). The estimation used input variables of longitudinal speed (U.) as input variable and by sideslip angle (Q;) estimated previously based on full car mathematical model. The mathematical model computes forces that work on each wheel of the car. Then by computer simulation the slip angle estimated has been examined. The results of estimation show the slip angle has non linear correlation with longitudinal speed. The largest slip angle value is at wheel number 4 (rear left) and the smallest is at wheel number 3 (rear right ). So wheel angles are required by the 4WS has non tinier correlation by longitudinal speed. At low-middle speed, the rear wheels angle move to opposite direction with the front wheels but at middle-high speed, the rear wheels angle move to the same direction with the front wheels.