This content is not included in your SAE MOBILUS subscription, or you are not logged in.
Steering Wheel Torque Control of Steer-by-Wire System for Steering Feel
ISSN: 0148-7191, e-ISSN: 2688-3627
Published March 28, 2017 by SAE International in United States
This content contains downloadable datasetsAnnotation ability available
This paper proposes a reference steering wheel torque map and a torque tracking algorithm via steer-by-wire to achieve the targeted steering feel. The reference steering wheel torque map is designed using the measurement data of rack force and steering characteristic of a target performance of the vehicle at transition steering test. Since the target performance of the vehicle is only tested in nominal road condition, various road conditions such as disturbances and tire-road friction are not considered. Hence, the measurement data of the rack force that reflects the road conditions in the reference steering wheel torque map have been used. The rack force is the net force which consists of tire aligning moment, road friction force and normal force on the tire kingpin axis. A motor and a magnetorheological damper are used as actuators to generate the desired steering feel using the torque tracking algorithm. The torque tracking algorithm is composed of feedforward control and feedback control. The feedforward control uses the plant dynamics to compensate for the torque from the moment of inertia and the viscous friction of the steering system and the feedback control uses a proportional integral derivative control methodology to compensate for the error between the steering wheel torque and the reference wheel torque in this tracking algorithm. The performance of the proposed controller was evaluated with the sinusoidal and transition tests using computer simulations. By using this proposed control algorithm in steer-by-wire system, the steering feel close to that of a conventional motor driven steer system has been successful obtained.
CitationLee, J., Chang, S., Kim, K., Jang, B. et al., "Steering Wheel Torque Control of Steer-by-Wire System for Steering Feel," SAE Technical Paper 2017-01-1567, 2017, https://doi.org/10.4271/2017-01-1567.
Data Sets - Support Documents
|[Unnamed Dataset 1]|
- Fankem, S. Muller, S. A new model to computer the desired steering torque for steer-by-wire vehicles and driving simulators, Vehicle System Dynamics, 52: 251–271, 2014.
- Lee, D., Jang, B., Yi, K., Chang, S. , "A Novel Electric-Power-Steering (EPS) Control Algorithm Development for the Reference Steering Feel Tracking," SAE Technical Paper 2016-01-1546, 2016, doi:10.4271/2016-01-1546.
- Balachandran, A. and Gerdes, J. (2014). Designing steering feel for steer-by-wire vehicles using objective measures. Mechatronics, IEEE/ASME Transactions on, PP (99), 1–11.
- Bertoluzzo, M. Buja, G. and Menis, R. “Control schemes for Steer-byWire systems,” IEEE Ind. Electron. Mag., vol. 1, no. 1, pp. 20–27, Spring 2007.
- Park, Y. and Jung, I., "Semi-Active Steering Wheel for Steer-By-Wire System," SAE Technical Paper 2001-01-3306, 2001, doi:10.4271/2001-01-3306.
- Iskandarani Yousef. "Hysteresis modeling for the rotational magnetorheological damper," the 4th WSEAS international conference on Energy and development, pp. 479–485, 2011.
- Lee, G. H. Choi, W. C. Kim, S. I. Kwon, S. O. Hong, J. P. “Torque ripple minimization control of permanent magnet synchronous motors for EPS applications,” International Journal of Automotive Technology, pp.12–291, 2011
- Qiang Li. “Modeling and simulation study of the steer by wire system using bond graph." Vehicular Electronics and Safety, 2005. IEEE, pp. 7–11, 2005.
- Bajçinca N. "Robust Control for Steer-by-Wire Vehicles," Autonomous Robots, pp. 193–214, 2005.
- Yih P. and Gerdes, J. C. “Modification of vehicle handling characteristics via steer-by-wire,” IEEE Trans. Contr. Syst. Technol., vol. 13, no. 6,pp. 965–976, Nov. 2005.
- Ackermann, J. "Yaw disturbance attenuation by robust decoupling of car steering", Proc. 13th IFAC World Congr. (IFAC'96), pp. 1–6.
- Peter D. and Gerhard, R. "Electric Power Steering̵The First Step on the Way to Steer by Wire".
- Wohnhaas A. and Essers, U. "Nonlinear modeling and simulation of a rack and pinion steering", Proc. Int. Symp. Advanced Vehicle Control (AVEC'92), pp. 68–73, Sep. 1992.
- Proca A. B. and Keyhani, A. "Identification of power steering dynamic models", Mechatronics, vol. 8, pp. 255–270, 1998.
- Pacejka, H. Bakker E. and Nyborg, L. "Tyre modeling for use in vehicle dynamic studies".
- Sugita S, Tomizuka M. “Cancellation of unnatural reaction torque in variable-gear-ratio." Trans ASME, J Dyn Syst Meas Control. 2012
- Nianjiong Y. and Qifeng, L. "Design and Simulation for Steer-by-Wire System Based on Fuzzy-PID," 2015 7th International Conference on Intelligent Human-Machine Systems and Cybernetics, Hangzhou, 2015, pp. 291–294.