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Design of Electrical Drive for Steer-by-Wire Systems

Afshang, Hamid |

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 40141 (05)
  4. University: Sharif University of Technology
  5. Department: Electrical Engineering
  6. Advisor(s): Tahami, Farzad
  7. Abstract:
  8. Hydraulic steering technology has been used in vehicles for decades. Recently, a trend has been seen towards the use of electronic steer-by-wire systems that provide greater design flexibility by customizing the connection between the steering wheel and the steering mechanism. Steer-by-Wire systems (SbW) offer the potential to enhance steering functionality by enabling features such as automatic lane keeping, park assist, variable steer ratio, and advanced vehicle dynamics control. The lack of a steering intermediate shaft significantly enhances vehicle architectural flexibility. The task of a SbW system is two-fold: turning the steered wheels by tracking the hand wheel (HW) rotation and providing the driver with a feeling of the steering effort. Thus, two control system loops are being closed: the hand wheel force feedback loop and the road wheel (RW) position feedback loop. Thereupon, two electric derives are required to achieve these purposes.A problem arises in design of the motor drive control system of SbW is that the mechanical interfaces are elastic. Furthermore the tire model is highly nonlinear with a lot of uncertainties.In this thesis, we first develop a fractional order (FO) model for car steering. FO systems offer a good modeling framework for complex dynamical systems involving nonlinear phenomena in multi-body systems.In the second stage, the controllers are designed. RW controller is designed based on Input-Output linearization method and HW controller is designed on the basis of PI method and also HW position information is fed through an appropriate transfer function that is used to directly influence the torque felt by the driver.Results obtained from the simulation show the capability of the proposed model and controllers to carry out an accurate SbW system under severe maneuvering conditions on different roads
  9. Keywords:
  10. Streer-By-Wire System ; Aligning Moment ; Elastic Linkage ; Input-Output Linearization

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