Haptic Design for Steering Mechanism in a System for Remote Vehicle Driving

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Sajjadi, Mohammad Reza | 2013

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Type of Document: M.Sc. Thesis
Language: Farsi
Document No: 45119 (08)
University: Sharif University of Technology
Department: Mechanical Engineering
Advisor(s): Salarieh, Hassan
Abstract:
The purpose of this thesis is to design haptic control system for vehicle steering mechanism in a tele-driving system. Thus the subject is a developed subject in comparison with a steer by wire system. The difference is that in the steer by wire system, due to the lack of delay in sending and receiving data, possibility of instability is very low. This subject makes haptic control more difficult in vehicle tele-driving. Control of vehicle tele-driving steering system has been done by different bilateral control structures available in the literature. simulation results of the case that there is no delay in the transmission block suggest that used different control structures in order to enhance the tracking performance, are: position error based, force position, four channel, three channel and two channel. Thus, the two channel structure is chosen as the most appropriate structure. Also, in the presence of delay, until the rate of change of delay with time is less than unity, instability problem is solved using the wave variable
Keywords:
Haptic System ; Tele Drive ; Bilateral Control ; Hybrid Matrix ; Wave Variable

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