Steering torque control using variable impedance models for a steer-by-wire system

This paper presents an approach to develop a brushless DC motor to assist an electric power steering. Optimal design for electric power steering system implies the adequate selection of topology, technology, sizes and control algorithm. This paper briefly describes the electric power steering system structure, the most used topologies of electric power steering and the advantages of using brushless DC motors for electric power steering assistance. An electric power steering architecture is proposed. The method of design the brushless DC motor for this electric power steering is presented. Design of the brushless DC motor was based on the analysis of the requirements of the EPS systems, analysis of the control methods, modelling and simulation in MATLAB/SIMULINK. Simulation for six various conditions are presented and analysed for optimal sizing of the electric motor. An experimental model of the designed motor has been manufactured for validation.

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“…The magnitude of the reference current is determined by using reference torque according to equation (8):…”

Section: Simulation and Discussionmentioning

confidence: 99%

Modelling and Simulation of a Brushless Motor DC for Electric Power Steering Assistance

Cioboata¹,

Neacsu²,

Stanciu³

et al. 2020

EEA

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“…To track the desired steering wheel angle calculated by the sliding mode controller, which is used as upper-level controller, the PI controller, which is widely used in steering-related motion control, was used. 53–56 The structure of the PI controller used as the lower-level controller is shown in Figure 14. Where k P is a proportional gain coefficient, k I is a integral gain coefficient.…”

Section: Lane Keeping Assistance Systemmentioning

confidence: 99%

Design and implementation of human driving data-based lane-keeping assistance system for electric bus

Lim

Kim

2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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This paper describes design, implementation, and evaluation of human driving data-based Lane Keeping Assistance System (LKAS) for electric bus equipped with a hybrid electric power steering system. The hybrid electric-power steering system used in this study means a steering system in which an Electric Power Steering (EPS) system and an Electro-Hydraulic Power Steering (EHPS) system are integrated into a ball-nut. A dynamic model of hybrid EPS system including EHPS system and EPS system has been developed to generate EPS torque and EHPS force corresponding to the input torque. In order to determine proper timing of LKAS intervention, driving data of electric bus drivers were collected and driving patterns were analyzed using a 2-D normal distribution probability density function. Lane information necessary for the lane-keeping assistance system is obtained from a vision camera mounted on the electric bus. Sliding mode control is used to get a Steering Wheel Angle (SWA) required for LKAS. A Proportional–Integral (PI) control is used to obtain an overlay torque required to track the target SWA. A proposed DLC threshold has been validated using vehicle simulation software, TruckSim, and MATLAB/Simulink. It is shown that the proposed DLC threshold shows good performance in both cases of slow lane departure and fast lane departure. The proposed algorithm has been successfully implemented on the electric bus and evaluated via real-world driving tests. Test scenario setting and the evaluation of performance were carried out by ISO 11270 criteria. It is shown that the algorithm successfully prevented the electric bus from unintended lane departure satisfying ISO 11270 criteria.

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“…D.S.Cheon and K. H. Nam proposed the torque tracking algorithm. 7 This paper focuses on tracking the desired torque model rather than designing the torque model. Unlike other methods, there is an advantage that can be utilized even if the mechanical load of the steering system changes.…”

Section: Introductionmentioning

confidence: 99%

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

Lee

Kim

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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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.

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Steering torque control using variable impedance models for a steer-by-wire system

Cited by 14 publications

References 14 publications

Modelling and Simulation of a Brushless Motor DC for Electric Power Steering Assistance

Modelling and Simulation of a Brushless Motor DC for Electric Power Steering Assistance

Design and implementation of human driving data-based lane-keeping assistance system for electric bus

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

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