Design of Haptic Feedback Control for Steer-by-Wire
Paper i proceeding, 2018

This paper illustrates a comparison of different haptic feedback control strategies; primarily focusing on open and closed-loop methods for a Force-Feedback Steer-by-Wire system. Due to shortcomings caused by the feedback motor impedance in the open loop architecture, the tracking performance is deteriorated. Consequently it is shown that the closed-loop solutions provide an improved response within the desired steering excitation range. The closed-loop possibilities, torque and position control, are designed and objectively compared in terms of performance and stability. The controller objectives are inertia compensation and reference tracking. For a given reference, the stability constraint between the controller gains responsible for the two objectives is contrasting in both the methods. Higher bandwidth is achieved for torque controller, whereas the driver arm inertia limits the position control performance. The linear system analysis is supported by the experimental results.

Haptic feedback

Linear control theory

Steer-by-Wire

Författare

Tushar Chugh

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

Volvo Cars

Fredrik Bruzelius

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

Statens Väg- och Transportforskningsinstitut (VTI)

Matthijs Klomp

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

Volvo Cars

Barys Shyrokau

Technische Universiteit Delft

IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC

Vol. 21 1737-1744

21st IEEE International Conference on Intelligent Transportation Systems (ITSC)
Maui, Hawaii, USA,

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.

Styrkeområden

Transport

Ämneskategorier

Farkostteknik

Robotteknik och automation

Reglerteknik

DOI

10.1109/ITSC.2018.8569795

Mer information

Senast uppdaterat

2019-08-21