Abstract
The steer-by-wire system is a next generation steering control technology that has been actively studied because it has many advantages such as fast response, space efficiency due to removal of redundant mechanical elements, and high connectivity with vehicle chassis control, such as active steering. Steer-by-wire system has disturbance composed of tire friction torque and self-aligning torque. These disturbances vary widely due to the weight or friction coefficient change. Therefore, disturbance compensation logic is strongly required to obtain desired performance. This paper proposes model-based controller with disturbance compensation to achieve the robust control performance. Targeted steer-by-wire system is identified through the experiment and system identification method. Moreover, model-based controller is designed using the identified plant model. Disturbance of targeted steer-by-wire is estimated using disturbance observer(DOB), and compensate the estimated disturbance into control input. Experiment of various scenarios are conducted to validate the robust performance of proposed model-based controller.
Highlights
X-by-wire (XBW) system is being introduced in the future automotive as the generation automotive control system [1]
XBW system is being developed to provide the driver with the convenience of driving, steering, and braking
This paper proposes the robust lower level controller for SBW system
Summary
X-by-wire (XBW) system is being introduced in the future automotive as the generation automotive control system [1]. XBW system is being developed to provide the driver with the convenience of driving, steering, and braking With this trend, Steer-by-wire (SBW) system is a future-oriented next-generation steering system with a large attention in the automotive industry. Targeted SBW system is modeled and identified through experiment results. Results show that friction torque is well estimated, and performance of proposed controller is guaranteed regardless of road condition. We apply the command input in 0 to 5 Hz, so we do not use the information over 5Hz range of calculated bode plot. If we ignore the disturbance torque from ground, i.e. Tdist = 0, we can calculate the transfer function betweetn control input torque T and steering wheel angle as follow. The closed loop system transfer function is calculated as follow
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