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Bilateral Control Method of Torque Drive/Angle Feedback Used for Steer-by-Wire System

Journal Article
2012-01-0792
ISSN: 1946-4614, e-ISSN: 1946-4622
Published April 16, 2012 by SAE International in United States
Bilateral Control Method of Torque Drive/Angle Feedback Used for Steer-by-Wire System
Sector:
Citation: Wang, X., Zong, C., Xing, H., Hu, R. et al., "Bilateral Control Method of Torque Drive/Angle Feedback Used for Steer-by-Wire System," SAE Int. J. Passeng. Cars - Electron. Electr. Syst. 5(2):479-485, 2012, https://doi.org/10.4271/2012-01-0792.
Language: English

Abstract:

Steer-by-Wire system is capable of improving the performance of vehicle handling and stability, and assisting driving. It becomes a key technique to control front wheel angle and simulate the steering resistance delivered to the driver because of removing mechanical linkages between the steering wheel and the front wheels. This paper proposes a bilateral control method of steering wheel torque drive/pinion angle feedback, which is disaccustomed of controlling steering wheel block and steering actuator as master-slave plants. The pinion angle, steering wheel angle and its torque signals are used in the control logic without estimating or measuring the tire/road force. Simulations and vehicle experiments proceeded with this proposed method and the results confirmed that it achieves the bilateral control of the position and torque between the two plants. Meanwhile, the characteristics of the steering and returning dynamics obtained are very similar to conventional mechanical steering systems.