Investigation of Active Steering/Wheel Torque Control at the Rollover Limit Maneuver

2004 ◽  
Author(s):  
Taehyun Shim ◽  
Daniel Toomey
Keyword(s):  
Torque Control ◽  
Steering Wheel ◽  
Active Steering ◽  
Wheel Torque

Vehicle rollover recovery using active steering/wheel torque control

2008 ◽  
Vol 46 (1) ◽  
pp. 51 ◽  
Author(s):  
Taehyun Shim ◽  
Daniel Toomey ◽  
Chinar Ghike ◽  
Hemant M. Sardar
Keyword(s):  
Torque Control ◽  
Steering Wheel ◽  
Active Steering ◽  
Wheel Torque ◽  
Vehicle Rollover

Robust steering-assist torque control of electric-power-assisted-steering systems for target steering wheel torque tracking

Mechatronics ◽  
2018 ◽  
Vol 49 ◽  
pp. 157-167 ◽  
Author(s):  
Dongpil Lee ◽  
Kyongsu Yi ◽  
Sehyun Chang ◽  
Byungrim Lee ◽  
Bongchoon Jang
Keyword(s):  
Electric Power ◽  
Torque Control ◽  
Steering Wheel ◽  
Wheel Torque

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

scholarly journals Torque Control of Electric Power Steering Systems Based on Improved Active Disturbance Rejection Control

2020 ◽  
Vol 2020 ◽  
pp. 1-13 ◽  
Author(s):  
Shaodan Na ◽  
Zhipeng Li ◽  
Feng Qiu ◽  
Chao Zhang
Keyword(s):  
Electric Power ◽  
Control Method ◽  
Low Frequency ◽  
Torque Control ◽  
Steering Wheel ◽  
Electric Power Steering ◽  
Power Steering ◽  
Wheel Torque ◽  
Steering Torque ◽  
The Impact

In the electric power steering (EPS) system, low-frequency disturbances such as road resistance, irregular mechanical friction, and changing motor parameters can cause steering wheel torque fluctuation and discontinuity. In order to improve the steering wheel torque smoothness, an improved torque control method of an EPS motor is proposed in the paper. A target torque algorithm is established, which is related to steering process parameters such as steering wheel angle and angular speed. Then, a target torque closed-loop control strategy based on the improved ADRC is designed to estimate and compensate the internal and external disturbance of the system, so as to reduce the impact of the disturbance on the steering torque. The simulation results show that the responsiveness and anti-interference ability of the improved ADRC is better than that of the conventional ADRC and PI. The vehicle experiment shows that the proposed control method has good motor current stability, steering torque smoothness, and flexibility when there is low-frequency disturbance.

An optimal wheel-torque control on a compliant modular robot for wheel-slip minimization

Robotica ◽  
2015 ◽  
Vol 35 (2) ◽  
pp. 463-482 ◽  
Author(s):  
Avinash Siravuru ◽  
Suril V. Shah ◽  
K. Madhava Krishna
Keyword(s):  
Friction Coefficient ◽  
Normal Force ◽  
Experimental Studies ◽  
Traction Force ◽  
Static Stability ◽  
Wheel Speed ◽  
Torque Control ◽  
Modular Robot ◽  
Wheel Slip ◽  
Wheel Torque

SUMMARYThis paper discusses the development of an optimal wheel-torque controller for a compliant modular robot. The wheel actuators are the only actively controllable elements in this robot. For this type of robots, wheel-slip could offer a lot of hindrance while traversing on uneven terrains. Therefore, an effective wheel-torque controller is desired that will also improve the wheel-odometry and minimize power consumption. In this work, an optimal wheel-torque controller is proposed that minimizes the traction-to-normal force ratios of all the wheels at every instant of its motion. This ensures that, at every wheel, the least traction force per unit normal force is applied to maintain static stability and desired wheel speed. The lower this is, in comparison to the actual friction coefficient of the wheel-ground interface, the more margin of slip-free motion the robot can have. This formalism best exploits the redundancy offered by a modularly designed robot. This is the key novelty of this work. Extensive numerical and experimental studies were carried out to validate this controller. The robot was tested on four different surfaces and we report an overall average slip reduction of 44% and mean wheel-torque reduction by 16%.

Study on Driver and Vehicle System With Lane-Tracking Control System Using Steering Torque Input

2001 ◽  
Author(s):  
Masao Nagai ◽  
Hidehisa Yoshida ◽  
Kiyotaka Shitamitsu ◽  
Hiroshi Mouri
Keyword(s):  
Tracking Control ◽  
High Speed ◽  
Driving Simulator ◽  
Tracking System ◽  
Torque Control ◽  
Steering Wheel ◽  
Control Input ◽  
Steering Angle ◽  
Lane Tracking ◽  
Steering Torque

Abstract Although the vast majority of lane-tracking control methods rely on the steering wheel angle as the control input, a few studies have treated methods using the steering torque as the input. When operating vehicles especially at high speed, drivers typically do not grip the steering wheel tightly to prevent the angle of the steering wheel from veering off course. This study proposes a new steering assist system for a driver not with the steering angle but the steering torque as the input and clarifies the characteristics and relative advantages of the two approaches. Then using a newly developed driving simulator, characteristics of human drivers and the lane-tracking system based on the steering torque control are investigated.

Inverse Wheel Dynamics

2006 ◽  
Author(s):  
V. V. Vantsevich
Keyword(s):  
Angular Velocity ◽  
Power Distribution ◽  
Vehicle Dynamics ◽  
Inverse Dynamics ◽  
Equation Of Motion ◽  
Torque Control ◽  
Vehicle Performance ◽  
Performance Control ◽  
Wheel Torque ◽  
And Performance

Wheel dynamics is a significant component of vehicle dynamics and performance analysis. This paper presents an innovative method of studying wheel dynamics and wheel performance control based on the inverse dynamics formulation of the problem. Such an approach opens up a new way to the optimization and control of both vehicle dynamics and vehicle performance by optimizing and controlling power distribution to the drive wheels. An equation of motion of a wheel is derived first from the wheel power balance equation that makes the equation more general. This equation of motion is considered the basis for studying both direct and inverse wheel dynamics. The development of a control strategy on the basis of the inverse wheel dynamics approach includes wheel torque control that provides a wheel with both the referred angular velocity and rolling radius and also with the required functionals of quality. An algorithm for controlling the angular velocity is presented as the first part in the implementation of the developed strategy of the inverse wheel dynamics/performance control.

Control of Steer by Wire System for Reference Steering Wheel Torque Tracking and Return-Ability

2018 ◽  
Author(s):  
Jaepoong Lee ◽  
Yi kyongsu ◽  
Kwangil Kim ◽  
Byungrim Lee ◽  
Dongpil Lee ◽  
...  
Keyword(s):  
Steering Wheel ◽  
Steer By Wire ◽  
Wheel Torque ◽  
Wire System
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