An approach to develop haptic feedback control reference for steering systems using open-loop driving manoeuvres
Journal article, 2019

In this paper, a methodology to capture the model-based haptic feedback control reference for closed-loop steering systems is demonstrated. The parameterisation is based on the measurements of open-loop driving manoeuvres for the inertia-spring-damper-friction reference model. The steady-state and transient manoeuvres are used to identify the model parameters. The reference model is limited to the haptic feedback of driver excitation in the linear vehicle handling range and intended to be used in closed-loop steering control strategies. The model parameters have an intuitive interpretation that allows to be used in both admittance and impedance control setting. The feasibility of the proposed model is demonstrated in a validated simulation environment for electric power assisted steering and on a real hardware for the steer-by-wire force-feedback case.

parameter estimation

Haptic feedback reference

impedance and admittance control

steering systems

system identification

Author

Tushar Chugh

Chalmers, Mechanics and Maritime Sciences, Vehicle Engineering and Autonomous Systems

Fredrik Bruzelius

Chalmers, Mechanics and Maritime Sciences, Vehicle Engineering and Autonomous Systems

Matthijs Klomp

Chalmers, Mechanics and Maritime Sciences, Vehicle Engineering and Autonomous Systems

Barys Shyrokau

Delft University of Technology

Vehicle System Dynamics

0042-3114 (ISSN)

Vol. in press

Steer by wire Opportunities, performance and system safety (SWOPPS)

VINNOVA, 2018-03-09 -- 2021-07-01.

Development of Virtual Steering Control and Steering Feel Model Reference

EU H2020 - Marie Skłodowska-Curie Innovative Training Networks (ITN-ETN), 2016-07-01 -- 2022-06-30.

Volvo Cars, 2016-07-01 -- 2022-06-30.

Areas of Advance

Transport

Subject Categories

Applied Mechanics

Vehicle Engineering

Control Engineering

DOI

10.1080/00423114.2019.1662923

More information

Latest update

12/10/2019