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How to Make Steer-By-Wire Feel Like Power Steering

Odenthal, D. and Bünte, T. and Heitzer, H.-D. and Eicker, C. (2002) How to Make Steer-By-Wire Feel Like Power Steering. Proc. of 15th IFAC World Congress b'02, 2002-07-21 - 2002-07-26, Barcelona.

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Abstract

In this paper for the design of a Steer-by-Wire (SbW) system a generic controller structure is proposed with bidirectional position feedback. The design goal for SbW here is to match the dynamics of an (electric or hydraulic power) steering system which may notionally be subdivided into a manual and an assistance steering part. For matching the manual steering part a generic linear controller structure and for matching the assistance steering part a nonlinear unilateral controller structure are suggested. The controller design problem is formulated as a system dynamics equivalence problem, either based on a physical or an identified model, and is solved exactly. This result is then adapted according to practical considerations. For robustness and stability analysis of the linear part of the steer-by-wire system passivity theory is applied and performance is evaluated by Bode magnitude plots and a H?-performance criterion. Nonlinear simulations at various operating conditions (vehicle speed, road-tire contact) with a high fidelity vehicle dynamics model demonstrate the robustness of the whole system.

Document Type:Conference or Workshop Item (Paper)
Additional Information:LIDO-Berichtsjahr=2002,
Title:How to Make Steer-By-Wire Feel Like Power Steering
Authors:
AuthorsInstitution or Email of Authors
Odenthal, D.UNSPECIFIED
Bünte, T.UNSPECIFIED
Heitzer, H.-D.TRW Fahrwerksysteme GmbH, Düsseldorf
Eicker, C.TRW Fahrwerksysteme GmbH, Düsseldorf
Date:2002
Status:Published
Keywords:Steer-by-Wire, Master-Slave Systems, Man/Machine Systems, Robust Control
Event Title:Proc. of 15th IFAC World Congress b'02
Event Location:Barcelona
Event Type:international Conference
Event Dates:2002-07-21 - 2002-07-26
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:Aircraft Research
DLR - Research area:Aeronautics
DLR - Program:L AR - Aircraft Research
DLR - Research theme (Project):L - Flexible Aircraft (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics
Deposited By: elib DLR-Beauftragter
Deposited On:16 Sep 2005
Last Modified:12 Dec 2013 20:02

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