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

  • D. S. Cheon
  • K. H. NamEmail author
Article

Abstract

This paper presents a novel sensor-less steering torque control method for applications to the steer-by-wire system. A steer-by-wire system has not any mechanical link to connect a steering wheel and a rack and pinion gear module. Instead of mechanical devices, two electric motors are used on each side. A one motor is attached to the steering wheel and the other is set on rack and pinion. The motor on the steering wheel works as a deliverer between a steering torque and load torque from the road. In this paper, we focus on motion control related to the steering feel based on impedance control. Therefore, the model of rack and pinion is not considered in this work. In most power steering systems, a torque sensor is used to set impedance effect on driver’s steering feel. In this paper, we proposed a novel steering control method without using any torque sensors. The effectiveness of a proposed method is confirmed from experimental results.

Key Words

Sensor-less force control Disturbance observer Steer-by-wire Impedance control 

Nomenclature

α

impedance ratio

Ba

friction coefficient of steering axis

Bm

friction coefficient of steering wheel motor

Bn

friction coefficient of nominal model

Bs

friction coefficient of steering wheel

cv

velocity coefficient

disturbance

\(\widehat d\)

estimated disturbance by disturbance observer

Δθ

different angle (steering wheel, steering wheel motor)

Fc

coulomb friction

Ffric

friction force

Fs

static friction

Jm

inertia moment of steering wheel motor

Jn

inertia moment of nominal model

Js

inertia moment of steering wheel

Ka

spring coefficient of steering axis

kI

I gain of feedback controller

kP

P gain of feedback controller

P

plant

Pn

nominal model

Pn-1

inverse nominal model

QDOB

Q filter of disturbance observer

r

input of disturbance observer

τa

reaction torque of steering axis

τm

torque of steering wheel motor

τs

torque of steering wheel observer

τ̂s

estimated torque of steering wheel

θm

angle of steering wheel motor

θ̇m

angular velocity of steering wheel motor

θ̈m

angular acceleration of steering wheel motor

θs

angle of steering wheel

θ̇s

angular velocity of steering wheel

θ̈s

angular acceleration of steering wheel

vth

velocity threshold

ωf

bandwidth of feedforward

ωQ

bandwidth of Q filter

y

output of disturbance observer

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Copyright information

© The Korean Society of Automotive Engineers and Springer-Verlag Berlin Heidelberg 2017

Authors and Affiliations

  1. 1.School of Mechanical EngineeringYeungnam UniversityGyeongbukKorea

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