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

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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.

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Abbreviations

α :

impedance ratio

B a :

friction coefficient of steering axis

B m :

friction coefficient of steering wheel motor

B n :

friction coefficient of nominal model

B s :

friction coefficient of steering wheel

c v :

velocity coefficient

ḓ :

disturbance

\(\widehat d\) :

estimated disturbance by disturbance observer

Δθ :

different angle (steering wheel, steering wheel motor)

F c :

coulomb friction

F fric :

friction force

F s :

static friction

J m :

inertia moment of steering wheel motor

J n :

inertia moment of nominal model

J s :

inertia moment of steering wheel

K a :

spring coefficient of steering axis

k I :

I gain of feedback controller

k P :

P gain of feedback controller

P :

plant

P n :

nominal model

P -1n :

inverse nominal model

QDOB :

Q filter of disturbance observer

r :

input of disturbance observer

τ a :

reaction torque of steering axis

τ m :

torque of steering wheel motor

τ s :

torque of steering wheel observer

τ̂ s :

estimated torque of steering wheel

θ m :

angle of steering wheel motor

θ̇ m :

angular velocity of steering wheel motor

θ̈ m :

angular acceleration of steering wheel motor

θ s :

angle of steering wheel

θ̇ s :

angular velocity of steering wheel

θ̈ s :

angular acceleration of steering wheel

v th :

velocity threshold

ω f :

bandwidth of feedforward

ω Q :

bandwidth of Q filter

y :

output of disturbance observer

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Authors and Affiliations

  1. School of Mechanical Engineering, Yeungnam University, Gyeongbuk, 38541, Korea

    D. S. Cheon & K. H. Nam

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  1. D. S. Cheon
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  2. K. H. Nam
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Correspondence to K. H. Nam.

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Cheon, D.S., Nam, K.H. Steering torque control using variable impedance models for a steer-by-wire system. Int.J Automot. Technol. 18, 263–270 (2017). https://doi.org/10.1007/s12239-017-0026-4

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  • DOI: https://doi.org/10.1007/s12239-017-0026-4

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