Steering by Wire System Development, Modeling, and Characterization for Lightweight Vehicles
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Date
2013-05
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The Ohio State University
Abstract
This experiment was to study the characteristics of a steering – by – wire (SBW) system for a lightweight vehicle (LWV). Specifically, the relationship between the Hand Wheel Steering Angle (HWSA) and the Road Wheel Steering Angle (RWSA) was examined. The SBW system was first developed and tested on a lightweight electric ground vehicle (EGV)—an experimental platform developed at the Vehicle Systems and Control Laboratory (VSCL) led by Dr. Junmin Wang. The SBW was installed near the existing steering column of the EGV. A newly fabricated mounting system was also designed to allow for quick connection or disconnection of the SBW system and the steering column. The control of the HWSA was developed through programming in MATLAB and Simulink, using the measurements from an angle encoder for feedback. Based on a previous work of Xiaoyu Huang, a two degree of freedom bicycle model incorporating a simple linear lateral tire model was developed for the estimation of the RWSA, utilizing only signals related to vehicle motions. With the measured HWSA and the estimated RWSA, the steering system hysteresis model that takes HWSA as an input and RWSA as an output was derived using the recursive general identification algorithm (RGIA) developed by Dong. This model was validated through dynamic tests using the EGV. The developed model for the advanced SWB system will be applied towards refining the LWV dynamic model for the purpose of subsequent control systems designs.
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Keywords
Steering Wire Model Lightweight Vehicle Characterization