Browse Topic: Electronic steering control

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Modeling and Simulation Research on the Electric Power Steering System for a Passenger Car2016-01-04644/5/2016
In order to expand the product design and development capabilities of Electric Power Steering (EPS) system, a passenger car’s simulation model integrated with EPS system model will be made. Some analytical investigation is conducted in this paper. Through simplifying the architecture model of EPS system, the mathematical equation expressions of steering wheel and column, worm gear reducer, rack and pinion, steer-wheels, brushed DC electrical motor, and ECU assistance and compensation laws will be described. A number of tests on the EPS full system and subsystems and components will be executed. The tests’ results will be used as the input parameters of the model, and then be used for model validations. After that, the EPS system model will be created. Since the most important part of control logic strategy is the top secret of steering assembly supplier and it could’t be provided to OEM in details or not even a black-box model directly. Accordingly a look-up tables controller model based on test datas will be developed in this paper. After the EPS model is validated, the chassis model integrated with it will be built, where the suspension characteristics are generated from K&C test rig. And the integrated chassis model will be validated by several typical handling maneuvers that focus on both objective and subjective evaluations. The following sensitivity analysis will find out the metrics influenced by which parameters of the controller to improve handling performance and driving feeling.
Li, Lingyang, Wu, Wei, Chen, Ji, Shi, Jianpeng, Wang, Xicheng, Qian, Liuhua
Development a HIL Test Bench for Electrically Controlled Steering System2016-01-00514/5/2016
Electric power steering (EPS), active front wheel steering (AFS) and steer by wire systems (SBW) can enhance the handling stability and safety of the vehicle, even in dangerous working conditions. Now, the development of the electric control steering system (ECS) is mainly based on the way that combines the test of the electric steering hardware-in-loop (HIL) test bench with real vehicle tests. However, the real vehicle tests with higher cost, long cycle and vulnerable to space weather have the potential safety problems at early development. On contrast, electronic control steering HIL test bench can replace real vehicle tests under various working conditions and make previous preparations for real vehicle road tests, so as to reduce the number of real vehicle test, shorten the development cycle, lower development costs, which has gradually become the important link of research and development of electronic steering system. Based on the study of domestic and foreign related electronic control steering HIL test bench and according to its purpose to develop and function requirements, this paper not only puts forward a set of real-time simulation system based on dSPACE and linear motor electric control to the development of the HIL test bench scheme, but also exploits the software and hardware of the test bench. Simultaneously, the development of the rapid control prototyping and HIL test has been carried on the test bench in electric power steering system.
Zheng, Hongyu, Zhao, Mingxin
Target setting and structural design of an EPS-in-the-Loop test bench for steering feeling simulation2016-01-15594/5/2016
The adoption of Electrical Power Steering (EPS) systems has greatly opened up the possibilities to control the steering wheel torque, which is a critical parameter in the subjective and objective evaluation of a new vehicle. Therefore, the tuning of the EPS controller is not only becoming increasing complicated, containing dozens of parameters and maps, but it is crucial in defining the basic DNA of the steering feeling characteristics. The largely subjective nature of the steering feeling assessment means that EPS tuning consists primarily of subjective tests on running prototypes. On account of that, this paper presents an alternative test bench for steering feeling simulation and evaluation. It combines a static driving simulator with a physical EPS assisted steering rack. The end goal is to more accurately reproduce the tactile feedback to the driver by including a physical hardware in lieu of complicated and difficult to obtain software models. The focus of the activity in this paper was to define the specifications for this test bench and to entirely design it. The test bench contains some actuators which mimic the vehicle’s loading of the steering rack. The specifications of these actuators have been derived from an experimental campaign performed with some high performance GT sport cars due to their high force and speed demands for the steering rack. The force spectra were obtained via strain gauge measurements of the track rod of the tested vehicles: a set of maneuvers encompassing different driving conditions were performed and the measured data were matched to the results of dynamic simulations and condensed to build a reliable specification framework. This paper presents the measures performed and the review of the acquired data. Additionally, the whole design of the EPS-in-the-Loop test bench is presented, including both the static and dynamic analyses carried out to validate it through multibody analyses with flexible bodies.
Vinattieri, Francesco, Wright, Tim, Capitani, Renzo, Annicchiarico, Claudio, Danisi, Giacomo
The Development and Verification of Hardware-in-the-loop Test-bench of Electrically Controlled Steering System2015-01-15084/14/2015
As electric technique develops fast, steering system changes from conventional mechanic steering system to Hydraulic Power Steering (HPS). Flowing HPS, Electrically Controlled Steering (ECS) system, including Electric Power Steering (EPS) system, Active Front Steering (AFS) system and Steer-by-Wire (SBW) system. ECS makes it easy for a driver to control a steering wheel using a less torque at a low speed, which is usually called steering portability Besides, ECS could also help a driver steer a vehicle stably at a high speed, which is usually called steering stability ECS provides an optional method to solve the contradiction between steering portability and steering stability. [1] [2] The study of ECS involves mechanic design, detection of electric components, software design and so on. Researches of ECS need a lot of trials and errors. By now, the development of ECS mostly depends on experiments on Hardware-in-the- Loop (HIL) and real vehicles. Because tests on real vehicles have many shortcomings, such as a higher cost, a longer period, etc. HIL is gradually taking the place of real vehicles to carry out kinds of experiments in order to reduce test times, cycles and costs, which has been a main means to research and develop ECS. In this paper, it proposes a project about a hard-ware-in-the-loop test-bench based on dSPACE real-time simulation system. It consists of hard-ware and soft-ware. Hard-ware includes a single-board system, namely DS1103, Micro Auto Box II and a steering system of a real car. And soft-ware is based on MATLAB/Simulink and CarSim. They help build models of EPS controller and the steering resistance. Besides, it also uses Control Desk to design human-computer interface in the paper. It simulates test conditions of real vehicles on test-bench then detects the validity of EPS controller algorithm, compared with tests on real vehicles. Results of tests on HIL are almost accordant with those of tests on real vehicles, which prove the designed test-bench valid for other electrically controlled steering systems. The test-bench that is effective works well in researching and developing ECS. As EPS is a typical representative of ECS, it is advisable to use EPS as a prototype.
Yu, Lijiao, Zheng, Hongyu
The Design of Electrically Controlled Steering System Hardware-In-the-Loop Test Bench2014-01-02434/1/2014
Nowadays, conventional steering system cannot meet consumers' requirements as their environmental awareness increasing. Electrically controlled steering system can solve this problem well [1] [2]. Electrically controlled steering system has been not only applied widely in automobile steering technique but also becomes an important section of automobile integrated chassis control technology. It is necessary for vehicles to test their every component repeatedly before every component assembled. So a test bench becomes an essential part for vehicle products' design and improvement. The electrically controlled steering system consists of Electric Power Steering system (EPS), Active Front Steering (AFS) and Steer by Wire (SBW). The similarity among them is containing pinion-and-rack mechanical structure, so it is viable to design a test bench suitable for these three systems. This paper takes EPS as a prototype to verify the design's availability. The designed test bench is also used to detect and verify the electrically controlled steering system's performance at the same time. The steering system's performance is mainly about vehicle's stability and safety. A test bench is expected to provide techniques for electrically controlled steering system's extensive use. Combining with the steering system's working principle, the paper drafts performance test methods to verify the designed test bench able to test EPS prototype performance correctly or not. If this bench is able to test the prototype performance exactly, it is also effective to test the other electrically controlled steering system.
Yu, Lijiao, Zheng, Hongyu, Zong, Changfu
A Coupled System Simulator for Electric Power Steering System2013-01-04234/8/2013
Electric power steering system has been widely used in passenger cars to replace hydraulic power steering system. In this paper, a coupled system simulator for dual-pinion electric power steering system is developed and its dynamics is verified using experimental data. The mechanical subsystem model is developed using mass, spring-damper and experimental data with hysteresis characteristic. For the control subsystem, the controller model is developed by transplanting control program from the controller in real vehicle to the simulator. For the electric subsystem, the motor model is developed using the map of current to torque which is created by magnetic field analysis in advance. The three subsystems are combined to form the complete system simulator and numerical simulation is performed. The simulation results are compared to the experimental data and the error is less than 10%. The coupled EPS system simulator produces accurate predictions of system dynamics and can support engineers in the analysis and design of real system effectively.
Xie, Long, Yamasaki, Masaru, Ajima, Toshiyuki, Nakatsugawa, Junnosuke, Sugiyama, Yoshitaka
Steer-by-Wire Systems with Integrated Torque Feedback Improve Steering Performance and Reduce CostTBMG-106706/1/2011
Hydraulic steering systems have long dominated the industrial utility vehicle market because of their familiarity both to vehicle designers and operators. More recently, a trend has been seen towards the use of electronic steer-by-wire systems that provide greater design flexibility by enabling software to customize the connection between the steering wheel and steering mechanism. Several suppliers offer integrated steer-by-wire systems targeting the industrial utility vehicle market. A key differentiating factor is the method used to provide torque feedback to give the operator a heightened sense of vehicle control. The latest generation of integrated steer-by-wire systems consumes less power, is less expensive, and offers the ability to be programmed to provide a wide range of value-added features.
Transient Responses of a Hydraulic Power Assisted Vehicle Steering System2011-01-09844/12/2011
This paper presents a comprehensive model of a hydraulic power steering system for predicting the transient responses under various steering inputs. The first principles of multi-body system dynamics and fluid mechanics are applied to model key nonlinear components and in particular, the rotary spool valve, piped fluid lines, the frictional coupling between multiple contacting surfaces with use of the empirical data. The system model, which integrates together all of lump masses, fluid line elements and hydraulic components, is formulated using the state space representation approach. It contains time-variant coefficient matrices resulting from the nonlinearities in the fluids systems. A numerical simulation scheme is developed to obtain the system transient responses and the results are compared with those measured from the tests. Large transient vibration (or judder) of multi-body subsystem, or pressure ripple in the hydraulic subsystem, are observed from both of simulation and tests under certain operating conditions. In general, the simulation results agree with those obtained from the tests under the same steering inputs and operating conditions. The presented model can predict the pressure boosting characteristics of the rotary spool valve with a good accuracy, which could otherwise only be done through testing on prototypes.
Zhang, Nong
Harnessing FPGAs for Beamforming Software Radio SystemsTBMG-92042/1/2011
Over the past 20 years, software defined radio techniques have not only revolutionized radar and communications systems, but they have also boosted system performance levels. One of the most widely-deployed and technically challenging operations in these systems is beamforming.
Human-Machine Interaction in Vehicle Steering2009-01-03594/20/2009
The steering system is one of the most important human interfaces in a vehicle and it must be designed to ensure safety and comfort for the driver. However, these characteristics are difficult to express quantitatively. Therefore, the current controller design requires many experimental steps. One possibility to reduce the number of the steps is to use the concept of passivity. In this paper, we explore useful conditions from the viewpoint of passivity in the controller design for vehicle steering. Controllers involving damping, inertia compensation, and vibration suppression in electric power steering systems are proposed.
Sugita, Sumio, Tomizuka, Masayoshi, El-Shaer, Ahmed
Potentials of Change Detection Algorithms for Diagnosis in Electronic Steering Systems2007-01-11514/16/2007
Active front steering is starting to establish as steering technology for passenger cars that realizes a mechatronic superposition of an angle to the hand steering wheel angle that is prescribed by the driver. This contribution describes algorithms, used to ensure - along with others - the overall functional safety of the system (i.e. preventing hazardous behavior). A kinematic constraint, modelled as a dynamic system, is used to estimate the steering wheel angle. This estimated signal is compared with the measured signal. Using change detection algorithms typical failure patterns of the steering wheel sensor are detected quite easily. Sample results and measurements from a prototype vehicle are presented.
Malinen, Samuel, Lundquist, Christian, Reinelt, Wolfgang
Control-Oriented Model for Electric Power Steering System2006-01-09384/3/2006
Electric power steering (EPS) systems have been used to replace hydraulic power steering systems in vehicles. How to enhance the safety and reliability while reducing the manufacturing cost of EPS systems is still of strong interest to the automotive industry. In this paper, modeling analysis is conducted for advanced control of electric power steering system. Specifically, a mathematical model is proposed for a column-mounted EPS system and then a simplified model for control design purpose is proposed. Issues that need to be addressed, such as noise/ disturbance attenuation as well as potential fault detection/tolerance are analyzed. Simulation using CarSim™ is also presented for an optimal control design using the simplified model as an example to validate the proposed ideas.
Chen, Xiang, Chen, Xiaoqun
Global Chassis Control - The Networked Chassis2006-01-19542/14/2006
Global Chassis Control (GCC) from Continental Teves, a logical development of the current Electronic Stability Control (ESC), aims to ensure the best possible levels of active safety, ride quality and driving pleasure under the given driving conditions, using the available configuration of electronically controlled chassis subsystems. The system makes the vehicle easier to control in extreme situations at the same time as maximizing ride comfort and ensuring more responsive handling.
Semmler, Sascha J., Rieth, Peter E., Linkenbach, Steffen J.
Control Algorithms for Superposition Steering Systems to Adapt and Improve Steering Characteristics2005-01-12664/11/2005
Active Front Steering (AFS) provides an electronically controlled superposition of an angle to the steering wheel angle. This additional degree of freedom enables a continuous and driving-situation dependent adaptation of the steering characteristics. Features like steering comfort, effort and steering dynamics are optimized and stabilizing steering interventions can be performed. After the successful introduction of the AFS System together with the new BMW 5-series into the international market, ZF Lenksysteme focuses on a modular system concept with new and improved functionalities. Currently, the variable steering ratio (VSR) provides the most evident benefit for the driver. This function represents an adaptation of the static steering characteristics by adjusting the steering ratio between the steering wheel angle and an average road wheel angle to the driving situation as a function of the vehicle velocity. This paper describes new approaches that provide an improvement of the static and dynamic characteristics of the steering system
Klier, Willy, Grossheim, Reinhard, Schuster, Wolfgang
Safety Process for Development of Electronic Steering Systems2005-01-07804/11/2005
The safety related development process, currently in place at ZF Lenksysteme is outlined. The process model and its incorporation into the other development processes is described as well as roles and responsibilities. Particular focus is put on the derivation of the safety specifications. The latter procedure is highlighted with an example taken from the active front steering system, developed by ZF Lenksysteme.
Reinelt, Wolfgang, Krautstrunk, Alexander
Dynamics of Steering System with Freeplay and Dry Friction - Comparative Simulation Investigation for 2WS and 4WS Vehicles2005-01-12614/11/2005
This paper continues a subject-matter of simulation studies of a car motion with inclusion of freeplay and dry friction, but in comparison to our SAE paper 2002-01-0619 (concerning to mechanical 2WS steering systems) in this paper also power assisted 2WS as well as 4WS steering systems are also the subjects of studies. The paper presents mathematical models and simulation studies of a car handling with regard to freeplay and friction in steering system. The models are customizable for several structures of steering system. Descriptions of freeplay and friction non-linearities base on special piecewise-linear projections. Elaborated models are used for digital simulation and sensitivity analyses concerning typical open road tests of passenger car. The paper describes these investigations and presents exemplary results. They show complexity of stick-slip phenomenon and car dynamics sensitivity on the freeplay and friction in the 2WS and 4WS structures. The presented models and results may be interesting and useful for researches working on non-linear dynamics and problems of vehicle active safety.
Lozia, Zbigniew, Zardecki, Dariusz
Analysis of an Electric Power Assisted Steering System using Bond Graphs2003-01-05863/3/2003
This paper deals with a DC motor driven Electric Power Assisted Steering system integrating a manual rack and pinion steering system. The DC motor is controlled by an electronic controller and connected to the steering system through a set of gears. The DC motor and the steering were modeled using principles of bond graphs and combined with Controller to form the system model. The state equations describing the system were developed using the bond graphs. The performance of the system was simulated using Matlab/Simulink. The electronic controller develops an output voltage to control the DC motor, considering vehicle speed and Steering Column torque inputs. This paper used a regression-weighted function to describe the operation of the controller. Transient and steady state performance characteristics of the system were evaluated including its damping characteristics.
Vijayakumar, Srihari, Chandran, Ram
IVMC: Intelligent Vehicle Motion Control2002-01-08213/4/2002
The development of Integrated Chassis controllers has followed two main approaches. The pragmatic approach is to integrate existing chassis subsystems (e.g. DYC, ABS, TCS, ARC) with heuristic control laws. The more theoretical approach is to calculate control actions by solving a model of the vehicle dynamics. There is a dearth of literature that investigates the interface between these two strategies. This interface can give vehicle manufacturers ownership of the core vehicle motion control algorithm and allow them to select chassis controllers from a range of component suppliers. IVMC aims to give a global design methodology for Intelligent Vehicle Motion Control that interfaces a theoretical, generic controller with existing chassis subsystems. The interface takes the generic actuation forces and distributes them to the braking and steering chassis subsystems, DYC and active steering.
Manning, W. J., Selby, M., Crolla, D. A., Brown, M. D.
Fuel Consumption Reduction in a Platoon: Experimental Results with two Electronically Coupled Trucks at Close Spacing2000-01-30568/21/2000
This paper presents the fuel consumption reduction experienced by two heavy-duty trucks driving at close spacing. The trucks were coupled without any mechanical contact using an “Electronic Tow Bar” developed within the European project PROMOTE-CHAUFFEUR at DaimlerChrysler. The experiments were carried out on a level test track with constant velocities and with spacing between 6 and 16 m. As expected from other studies, both trucks experienced a considerable fuel consumption reduction compared to drives in isolation. At a velocity of 80km/h and a spacing of 10 m the measured fuel consumption reduction was of about 21 percent for the trail truck which had a total weight of 28 t. An extrapolation of the results for other vehicle weights is also presented.
Bonnet, Christophe, Fritz, Hans
Future Electrical Steering Systems: Realizations with Safety Requirements2000-01-08223/6/2000
Additional future requirements for automobiles such as improved vehicle dynamics control, enhanced comfort, increased safety and compact packaging are met by modern electrical steering systems. Based on these requirements the new functionality is realized by various additional electrical components for measuring, signal processing and actuator control. However, the reliability of these new systems has to meet the standard of today's automotive steering products. To achieve the demands of the respective components (e.g. sensors, bus systems, electronic control units, power units, actuators) the systems have to be fault-tolerant and/or fail-silent. The realization of the derived safety structures requires both expertise and experience in design and mass production of safety relevant electrical systems. Beside system safety and system availability the redundant electrical systems also have to meet economic and market requirements. Within this scope the paper discusses three different realizations of electrical steering systems 1 Electrical power steering system (mechanical system with electrical boosting) 2 Steer-by-wire system with hydraulic back-up and 3 Full steer-by-wire system The paper presents solutions for these systems and discusses the various advantages and disadvantages, respectively. Furthermore strategies for failure detection, failure localization and failure treatment are presented. Finally the various specifications for the components used are discussed.
Harter, Werner, Pfeiffer, Wolfgang, Dominke, Peter, Ruck, Gerhard, Blessing, Peter
Steer-Restoring Torque Controlled Driving Simulator for Developing Steering Road Feel91269011/1/1991
A driving simulator system for developing steering road feel has been developed. A new steering gear box or an electronic steering system is installed on the simulator and its road feel and control algorithm are developed according to the characteristics of any vehicle which has been programed into the engineering work-station. The vehicle model programed into the engineering work station runs according to the driver's operations, which are fed through the new steering system to be tested. The steer-restoring torque of the vehicle programed into the engineering work-station is produced by an actuator, and gives the impression through the new system of having been fed back from an actual road.
Miyamoto, Takao, Momiyama, Fujio
Increasing the Active Safety of Commercial vehicles by Using an Electronically Controlled Power Steering System89251811/1/1989
The aim of this paper is to analyse the component “steering” as a building block in an overall concept for the enhancement of active safety and driving comfort of commercial vehicles as well. The development steps will be elucidated regarding an electronically controlled power steering system, whereby the steering effort will be adapted to the dynamic parameters of the vehicle and thus to the prevailing driving conditions. Following the analysis of theoretical backgrounds, a concept for an electronically controlled power steering system was established that would comply to the stipulated technical specifications. In order to be able to select and determine the proper vehicle parameters for the micro-processor controlled steering system, the Mercedes-Benz driving simulator was put to use. After intensive parameter analysis and software optimization with the aid of the simulator, a conventional steering gear with minimum hysteresis was selected to build up a prototype for an electronically controlled power steering system.
Gohring, E., von Glasner, E. C, Hainbuch, C.
Electronically Controlled Steering Systems for Line Haul Vehicles87227011/1/1987
A commercial vehicle power steering system with driver selectable electronically controlled efforts, designated by TRW as the X-4, was designed and tested on Class 8 trucks. The TRW X-4 system is a variable-flow power assist concept. Prototypes of the system proved successful in installations on highway line-haul tractors from several manufacturers. The X-4 system provides increased steering road feel at highway speeds, without a reduction in power assist at low speeds. In addition to enhanced steering and handling performance, test results indicate that the X-4 system significantly reduces the power consumption as compared to the production OEM power steering system.
Rau, J. L., Callahan, W. L., Miller, L. L.
Steering Control System-Passenger Car-Laboratory Test ProcedureJ944A_196811 (Historical)11/1/1968
1. SCOPE Evaluation of the energy absorbing properties of the steering wheel assembly of a motor vehicle, or of the relative merit of altemative designs of such assemblies, is a complex problem involving human tolerance, vehicle and occupant dynamics during an accident, and frequency and severity of injuries to various body areas. T\'lO fundamental approaches are being used currently for steering wheel assembly evaluations: laboratory impact tests of varying degrees of complexity, and simulated collision tests. This SAE Recommended Practice describes a simplified laboratory procedure for evaluating the characteristics of steering wheel assemblies under simulated driver impact conditions. Basically, the test procedure employs a torso shaped body block which is impacted against the steering wheel assembly and the transmitted load -time history is measured.
Dummy Testing and Equipment Committee
Steering Control System-Passenger Car-Laboratory Test ProcedureJ944_196512 (Historical)12/1/1965
1. SCOPE Evaluation of the energy absorbing properties of the steering wheel assembly of a motor vehicle, or of the relative merit of altemative designs of such assemblies, is a complex problem involving human tolerance, vehicle and occupant dynamics during an accident, and frequency and severity of injuries to various body areas. T\'lO fundamental approaches are being used currently for steering wheel assembly evaluations: laboratory impact tests of varying degrees of complexity, and simulated collision tests. This SAE Recommended Practice describes a simplified laboratory procedure for evaluating the characteristics of steering wheel assemblies under simulated driver impact conditions. Basically, the test procedure employs a torso shaped body block which is impacted against the steering wheel assembly and the transmitted load -time history is measured.
Dummy Testing and Equipment Committee
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