scholarly journals Development of Estimation Force Feedback Torque Control Algorithm for Driver Steering Feel in Vehicle Steer by Wire System: Hardware in the Loop

2015 ◽  
Vol 2015 ◽  
pp. 1-17 ◽  
Author(s):  
Sheikh Muhammad Hafiz Fahami ◽  
Hairi Zamzuri ◽  
Saiful Amri Mazlan
Keyword(s):  
Control Algorithm ◽  
Force Feedback ◽  
Steering System ◽  
Front Axle ◽  
Torque Control ◽  
Steering Wheel ◽  
Hardware In The Loop ◽  
Linear Quadratic ◽  
Steering Feel ◽  
Steer By Wire

In conventional steering system, a feedback torque is produced from the contact between tire and road surface and its flows through mechanical column shaft directly to driver. This allows the driver to sense the steering feel during driving. However, in steer by wire (SBW) system, the elimination of the mechanical column shaft requires the system to generate the feedback torque which should produce similar performance with conventional steering system. Therefore, this paper proposes a control algorithm to create the force feedback torque for SBW system. The direct current measurement approach is used to estimate torque at the steering wheel and front axle motor as elements to the feedback torque, while, adding the compensation torque for a realistic feedback torque. The gain scheduling with a linear quadratic regulator controller is used to control the feedback torque and to vary a steering feel gain. To investigate the effectiveness of the proposed algorithm, a real-time hardware in the loop (HIL) methodology is developed using Matlab XPC target toolbox. The results show that the proposed algorithm is able to generate the feedback torque similar to EPS steering system. Furthermore, the compensation torque is able to improve the steering feel and stabilize the system.

scholarly journals A Hysteresis-Based Steering Feel Model for Steer-by-Wire Systems

2017 ◽  
Vol 2017 ◽  
pp. 1-14
Author(s):  
M. Selçuk Arslan
Keyword(s):  
Mathematical Model ◽  
Steering System ◽  
Steering Wheel ◽  
Hysteresis Model ◽  
Steering Feel ◽  
Proposed Model ◽  
Steer By Wire ◽  
Wheel Torque ◽  
Tire Dynamics ◽  
The Mathematical Model

A mathematical model of steering feel based on a hysteresis model is proposed for Steer-by-Wire systems. The normalized Bouc-Wen hysteresis model is used to describe the steering wheel torque feedback to the driver. By modifying the mathematical model of the hysteresis model for a steering system and adding custom parameters, the availability of adjusting the shape of steering feel model for various physical and dynamic conditions increases. Addition of a term about the tire dynamics to the steering feel model renders the steering wheel torque feedback more informative about the tire road interaction. Some simulation results are presented to establish the feasibility of the proposed model. The results of hardware-in-the-loop simulations show that the model provides a realistic and informative steering feel.

The Variable Steering Ratio for Vehicle Steer by Wire System Using Hyperbolic Tangent Method

2014 ◽  
Vol 575 ◽  
pp. 781-784 ◽  
Author(s):  
Sheikh Muhammad Hafiz Fahami ◽  
Hairi Zamzuri ◽  
Saiful Amri Mazlan ◽  
Sarah Atifah Saruchi
Keyword(s):  
High Speed ◽  
Control Algorithm ◽  
Steering System ◽  
Steering Wheel ◽  
Hyperbolic Tangent ◽  
Steer By Wire ◽  
Tangent Method ◽  
Vehicle Maneuver ◽  
Wire System

In conventional steering system, during the parking maneuver, driver required large turned on the steering wheel to move the fornt tyre. Thus, it will increase the driver burden when turned the steering wheel. The feature of variable steering ratio (VSR), help to reduce driver burden. Moreover, it improves the vehicle maneuver at lower and high speed. This paper, proposed a control algorithm of variable steering ratio (VSR) in vehicle SBW system. The concept of hyperbolic tangent is used where it not only improved the maneuverability at lower speed, but also reduces the driver burden on the steering wheel. To investigate the effectiveness of the proposed VSR algorithm, the result is compared with conventional steering system

Steering Wheel Torque Control of Steer-by-Wire System for Steering Feel

2017 ◽  
Author(s):  
Jaepoong Lee ◽  
Sehyun Chang ◽  
Kwangil Kim ◽  
Bongchoon Jang ◽  
Dongpil Lee ◽  
...  
Keyword(s):  
Torque Control ◽  
Steering Wheel ◽  
Steering Feel ◽  
Steer By Wire ◽  
Wheel Torque ◽  
Wire System

Study on Control Strategy of Steer-by-Wire Vehicle with Joystick

2013 ◽  
Vol 694-697 ◽  
pp. 2061-2064
Author(s):  
Chang Liu ◽  
Hong Yu Zheng ◽  
Chang Fu Zong
Keyword(s):  
Control Strategy ◽  
Force Feedback ◽  
Steering System ◽  
Steering Wheel ◽  
Simulation Tool ◽  
Steering Angle ◽  
Matlab Simulink ◽  
Variable Force ◽  
Steer By Wire ◽  
Potential Possibility

This study aims the development of a control strategy of steer-by-wire automotive with joystick. This control strategy makes driver able to change or maintain the steering angle of road wheels of the vehicle by joystick, provides feedback force to the driver and offers variable steering ratio, variable force feedback and proper damping. The control strategy was mathematically modeled and implemented using the simulation tool Matlab/Simulink and tested to inspect its effectiveness. The result of the test proves the control strategy is effective and the performance of a joystick steering system can be comparable to a traditional steering wheel by applying this control strategy, indicating potential possibility of joystick-steered automotive.

scholarly journals Development of force feedback in steering systems for virtual driving simulator

2018 ◽  
Vol 159 ◽  
pp. 02050
Author(s):  
Joga Dharma Setiawan ◽  
Masri B. Baharom ◽  
M. Ammar Bin Abdul Wali
Keyword(s):  
Force Feedback ◽  
Driving Simulator ◽  
Steering System ◽  
Steering Wheel ◽  
3D Animation ◽  
Vehicle Dynamic ◽  
Matlab Simulink ◽  
The Real ◽  
Steer By Wire ◽  
And Behavior

In steer-by-wire (SBW) vehicles, the elimination of the rigid mechanical column shaft would require the system to generate an artificial feedback torque which should produce similar driving feeling and behavior as to the conventional steering system. The objective of this study is to evaluate the characteristics of force feedback inside SBW vehicle for driving simulator utilizing Logitech G27 steering wheel. The model of the system is developed in Matlab/Simulink/3D Animation. A J-turn test is performed to see the resulting handwheel torque and its effect on the vehicle dynamic. The evaluation shows that the results are reasonable such that the driver of the simulator can feel the similar forces coming from the real road.

scholarly journals Electronic Control System for Steer by Wire

2021 ◽  
Vol 9 (VI) ◽  
pp. 4161-4166
Author(s):  
Eeshan Ranade
Keyword(s):  
Electric Power ◽  
Engine Performance ◽  
Steering System ◽  
Electric Power System ◽  
Driving Safety ◽  
Steering Wheel ◽  
Hydraulic Systems ◽  
Compact Structure ◽  
Steer By Wire ◽  
Improved Performance

Automobile industry’s focus is on efficiency, safety and performance has resulted in the rapid introduction of electronics in vehicle safety systems and engine management. Mechanical and Hydraulic systems are now gradually being replaced by electronic controllers to achieve the objectives of optimizing power consumption, improving driver convenience, and maximizing driver safety resulting in an overall improved performance and experience. Vehicle steering systems have transitioned from mechanical to hydraulic power to an electric power assisted steering system and now to the state of the art, Steer by Wire (SbW) system. Traditional mechanical systems included a steering wheel, column, gear, rack and pinion and did not support any power steering. The next generation hydraulic systems were more stable, safer and required comparatively lesser effort. Electric or DC motors drove the Electric Power System addressing the drawbacks of the hydraulic systems especially those related to environment and acoustics with the added advantage of a compact structure and power-on-demand engine performance. By-wire steering technologies was originally introduced in the Concord aircraft in 1970s. The SbW is a steering system with no steering column. The mechanical interface between the steering wheel and the wheels is replaced with by-wire electrical connection/electronic actuators. SbW system has significant advantages in terms of driving safety due to the availability of the steering command in electronic form and the removal of the steering shaft, cruising comfort with driving manoeuvring due to no space constraint and favourable to the environment with the non-usage of hydraulic oils.

scholarly journals Research on Torque Ratio Based on the Steering Wheel Torque Characteristic for Steer-by-Wire System

2014 ◽  
Vol 2014 ◽  
pp. 1-7
Author(s):  
Yandong Han ◽  
Lei He ◽  
Xiang Wang ◽  
Changfu Zong
Keyword(s):  
Force Feedback ◽  
Characteristic Curve ◽  
Transmission Ratio ◽  
Steering Wheel ◽  
Vehicle Handling ◽  
Design Goal ◽  
Torque Transmission ◽  
Steer By Wire ◽  
Wheel Torque ◽  
Wire System

Steer-by-wire system can improve the performance of vehicle handling stability. Removing the mechanical linkages between the front wheels and the steering wheel leads to a key technique of force feedback for steer-by-wire system. In view of the characteristic of variable torque transmission ratio for steer-by-wire system, this paper proposes a method for designing torque ratio based on the steering wheel torque characteristic for steer-by-wire system. It converts the torque ratio design into equivalent assist torque design by analyzing their relationship. It achieves the torque ratio design at different conditions based on the negative equivalent assist torque characteristic curve. Simulations and vehicle experiments are conducted by the proposed method, and the results show that the design goal has been achieved and the steering wheel torque characteristic obtained is very similar to that of the reference car.

Ranking Tires for Heavy Truck Steering Feel Performance Using a Simulation Model2

2006 ◽  
Vol 34 (1) ◽  
pp. 64-82 ◽  
Author(s):  
S. L. Haas
Keyword(s):  
Vehicle Dynamics ◽  
Performance Metrics ◽  
Steering System ◽  
Lateral Acceleration ◽  
Steering Wheel ◽  
Dynamics Model ◽  
Objective Testing ◽  
Steering Feel ◽  
Wheel Torque ◽  
Heavy Truck

Abstract The effects of seven different tire sets on heavy truck steering feel characteristics were demonstrated from objective testing. Also, the steering behavior and vehicle dynamics were modeled in order to determine how well the resulting simulations could rank the steering performance of the tire sets relative to the objective results. The objective testing was performed using a 6×4 tractor with a two-axle flatbed semi-trailer. Measured data included steering wheel torque, steering wheel angle, and lateral acceleration behavior resulting from on-center-type steering tests. In addition, the hydraulic pressure from the power steering system was also measured. The tests consisted of multiple cycles at 0.2 Hz and ±0.2 g. Steering-related performance metrics were selected and calculated based on the interaction between measured parameters. The same test procedure was also applied using an analytical model of a steering system. The input was steering wheel torque, and outputs included the road wheel angles at the steer axle, which were then fed into a commercial vehicle dynamics model providing the vehicle dynamics behavior along with feedback required for the steering model (e.g., king pin moments). Tire loads and slip angles were also provided by the vehicle dynamics model and used as input to a tire model predicting tire force and moment behavior. The related metrics were subsequently computed and compared to the measured results. Effects of the different tire sets on steering characteristics were seen from both the objective and simulation tests. Seven performance metrics were applied in a ranking comparison between measured and modeled results. Correlation of the modeled to measured metrics ranged from R2 values of 0.40 to 0.99 for the seven metrics considered.

Haptic control of steer-by-wire systems using parameter estimation of rack system lateral load model

2021 ◽  
pp. 095440702110275
Author(s):  
Jaepoong Lee ◽  
Kwang Il Kim ◽  
Minjun Kim ◽  
Kyongsu Yi
Keyword(s):  
Parameter Estimation ◽  
Limit Cycle ◽  
Sampling Rate ◽  
Lateral Load ◽  
Steering System ◽  
Haptic Rendering ◽  
Steering Wheel ◽  
Load Model ◽  
Steer By Wire ◽  
Haptic Control

This paper describes a haptic control of steer-by-wire systems for rendering the conventional steering system under various road conditions using parameter estimation of rack system lateral load model. To design the conventional steering system model, the dynamic model of a rack system has been developed as a mass-spring-damper system with a friction model. An online parameter estimation of the rack system was designed to consider the various road conditions in the haptic rendering. In a steering wheel system, which is a haptic device, a limit cycle, and instable behavior can occur due to the sampling rate and quantization. To prevent the limit cycle and instable behavior, a passivity analysis was conducted and constraint conditions of the rendering coefficient was derived. The haptic control algorithm is designed to render the conventional steering system without limit cycles using passivity conditions. The performance of the proposed controller was evaluated via both computer simulations and vehicle tests under various steering conditions. The results demonstrate that the proposed algorithm ensures haptic rendering performance on dry and wet asphalt conditions.

Research on Angle Measurement of Loader's Steering-by-Wire System

2013 ◽  
Vol 373-375 ◽  
pp. 138-141
Author(s):  
Hai Xia Zhao ◽  
Zhi En Lv
Keyword(s):  
Control System ◽  
Automatic Control ◽  
Working Conditions ◽  
Hydraulic System ◽  
Steering System ◽  
Angle Measurement ◽  
Corner Detection ◽  
Steering Wheel ◽  
Steer By Wire ◽  
Wire System

The loader's steer-by-wire system combines the automatic control system and hydraulic system. The system cancels the mechanical or hydraulic connection between the steering wheel and the front wheels, which existed in the original steering system, optimizing the adaptation of the loaders steering systems road feeling to its working conditions, convenient for the integration with other systems, and harmonization of control. This paper puts forward a new measurement of a steer-by-wire system steering angel. It aims at more accurate corner detection, will design to optimize loader's steer-by-wire hydraulic system signal detection, and better meet the actual needs.

Sign in / Sign up

Export Citation Format

Share Document