Modeling and simulation of vehicle steer by wire system

Fahami, Sheikh Muhamad Hafiz; Zamzuri, Hairi; Mazlan, Saiful Amri; Zakaria, Muhammad Aizzat

doi:10.1109/shuser.2012.6268992

Cited by 31 publications

(11 citation statements)

References 8 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Figure 2 shows the front wheel system (FWS) configuration while Table 2 lists its parameters [19]. Basically, the FWS consists of a steering wheel, motor, rack, pinion and front wheels [20].…”

Section: Front Wheel System Modelmentioning

confidence: 99%

Robust composite nonlinear feedback for nonlinear Steer-by-Wire vehicle’s Yaw control

et al. 2019

View full text Add to dashboard Cite

Yaw control is a part of an Active Front Steering (AFS) system, which is used to improve vehicle manoeuvrability. Previously, it has been reported that the yaw rate tracking performance of a linear Steer-by-Wire (SBW) vehicle equipped with a Composite Nonlinear Feedback (CNF) controller and a Disturbance Observer (DOB) is robust with respect to side wind disturbance effects. This paper presents further investigation regarding the robustness of the combination between a CNF and a DOB in a nonlinear environment through a developed 7-DOF nonlinear SBW vehicle. Moreover, in contrast to previous studies, this paper also contributes in presenting the validation works of the proposed control system in a real-time situation using a Hardware-in-Loop (HIL) platform. Simulation and validation results show that the CNF and DOB managed to reduce the influence of the side wind disturbance in nonlinearities.

show abstract

Section: Front Wheel System Modelmentioning

confidence: 99%

Robust composite nonlinear feedback for nonlinear Steer-by-Wire vehicle’s Yaw control

et al. 2019

View full text Add to dashboard Cite

show abstract

“…Front Wheel System. The function of the front axle system is to ensure the front tire angle follows the steering wheel angle command according to the steering ratio [17]. The front axle is composed of a front axle DC motor, rack and pinion, and tire model.…”

Section: The Modelling Of Steer By Wire (Sbw) Systemmentioning

confidence: 99%

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

Fahami

Zamzuri

Mazlan

2015

International Journal of Vehicular Technology

View full text Add to dashboard Cite

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.

show abstract

“…Those components have been replaced by the electric motor to control the direction of the vehicle. There was a lot of benefit due to removing the mechanical parts of the steering such as the handling performance can be improved, vehicle's weight was reduced, impact force to the driver in frontal accidents can reduce and also there will be a large space in cabin [6], [7].…”

Section: Introductionmentioning

confidence: 99%

Improving steering convergence in autonomous vehicle steering control

Mohamad¹,

Zaman²,

Ruslan³

2019

IJEECS

View full text Add to dashboard Cite

<p>Steering control is a critical design element in autonomous vehicle development since it will determine whether the vehicle can navigate safely or not. For the prototype of UiTM Autonomous Vehicle 0 (UiTM AV0), Vexta motor is used to control the steering whereas Pulse Width Modulation (PWM) signal is responsible to drive the motor. However, by using PWM signal it is difficult to converge to the desired steering angle and furthermore time taken for steering angle to converge is much longer. Thus, Proportional Integral Derivative (PID) has been introduced in this autonomous vehicle steering controller to improve the convergence of the steering. Meanwhile a microcontroller was used to control the Vexta Motor direction and perform the calculation of the desired steering angle. Simulation results showed PID controller showed better time taken and preicison of successful convergence of the desired steering angle compared to the PWM controller. Analysis results showed that PID controller significantly reduce the overshooting of steering angle and significantly improve the time taken for convergence by up to 37 seconds faster than PWM controller in UiTM AV0.</p>

show abstract

Modeling and simulation of vehicle steer by wire system

Cited by 31 publications

References 8 publications

Robust composite nonlinear feedback for nonlinear Steer-by-Wire vehicle’s Yaw control

Robust composite nonlinear feedback for nonlinear Steer-by-Wire vehicle’s Yaw control

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

Improving steering convergence in autonomous vehicle steering control

Contact Info

Product

Resources

About