An approach to develop haptic feedback control reference for steering systems using open-loop driving manoeuvres
Artikel i vetenskaplig tidskrift, 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

Författare

Tushar Chugh

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

Fredrik Bruzelius

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

Matthijs Klomp

Chalmers, Mekanik och maritima vetenskaper, Fordonsteknik och autonoma system

Barys Shyrokau

TU Delft

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

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

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

Styrkeområden

Transport

Ämneskategorier

Teknisk mekanik

Farkostteknik

Reglerteknik

DOI

10.1080/00423114.2019.1662923

Mer information

Senast uppdaterat

2019-12-10