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Design and Robust Control of a Precise Torque Controllable Steering Module for Steer-by-Wire Systems

Title
Design and Robust Control of a Precise Torque Controllable Steering Module for Steer-by-Wire Systems
Author(s)
Cheon, DasolNam, KanghyunOh, Sehoon
DGIST Authors
Cheon, DasolNam, KanghyunOh, Sehoon
Issued Date
2022-12
Type
Article
Author Keywords
Disturbance observer (DOB)gear transmission mechanisminherent impedancesteer-by-wire (SBW)torque control
Keywords
DISTURBANCE-OBSERVER
ISSN
0278-0046
Abstract
Steer-by-wire(SBW) system has been introduced to reduce the number of parts in a vehicle by eliminating the mechanical link between the steering wheel and the tire. Even though intensive research has been conducted on the SBW system, performance of the actuator system that provides the desired steering feel still needs improvement.Therefore, this paper presents a compact size torque controllable steering wheel module for the SBW system, where the actuator that provides the steering feel to the driver is modularized with the gear mechanism and the spring. The steering torque sensing mechanism is compactly integrated by placing the spring inside the gear mechanism.Thanks to the advantage in the torque measurement and control ability by the spring mechanism, high gear-ratio transmission can be employed in the proposed module, which can also address the low inherent mechanical impedance problem that may cause fail-safety issue in the SBW system. To enhance the impedance rendering performance of the proposed module, internal model compensator which is composed of inertia and friction compensation is applied. The kinematics, statics, and dynamics of the proposed module are theoretically analyzed, and a model-based control algorithm is proposed based on this analysis result. Experiment confirmed the proposed algorithm. © 2022 IEEE
URI
http://hdl.handle.net/20.500.11750/16822
DOI
10.1109/TIE.2021.3139195
Publisher
Institute of Electrical and Electronics Engineers
Related Researcher
  • 오세훈 Oh, Sehoon 로봇및기계전자공학과
  • Research Interests Research on Human-friendly motion control; Development of human assistance;rehabilitation system; Design of robotic system based on human musculoskeletal system; Analysis of human walking dynamics and its application to robotics; 친인간적인 운동제어 설계연구; 인간 보조;재활 시스템의 설계 및 개발연구; 인간 근골격계에 기초한 로봇기구 개발연구; 보행운동 분석과 모델 및 로봇기구에의 응용
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Appears in Collections:
Department of Robotics and Mechatronics Engineering MCL(Motion Control Lab) 1. Journal Articles

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