Design of a Robust Optimal Multivariable Control for a Steer-by-Wire System Technische Hochschule Köln

Format:

Book

Conference/Event

Author/Creator:

Irmer, Marcus, author.

Contributor:

Degen, René

Henrichfreise PhD, Hermann

Nüßgen, Alexander

Ruschitzka PhD, Margot

Thomas PhD, Karin

Conference Name:

23rd Stuttgart International Symposium (2023-07-04 : Stuttgart, Germany)

Language:

English

Physical Description:

1 online resource cm

Place of Publication:

Warrendale, PA SAE International 2023

Summary:

On the way to highly automated and autonomous driving, a robustly designed steering system is a key component. Therefore, this article presents a new control approach for modern steer-by-wire systems. The approach consists of a multivariable control for the drivers steering torque and the rack position simultaneously, using the requested torques of the downstream and upstream motor as control variables. The plant model used in this approach is a detailed model of a steer-by-wire system with nine degrees of freedom. For the control design, an optimal reduced model is derived. The reduced plant model is linearized, and it is augmented by linear models for the reference and disturbance environment of the steer-by-wire system and by a linearized model for the feeling generator that computes the requested steering torque. For this augmented model, a multivariable linear optimal static state space controller is designed. Hence, the whole environment of the real steering system is considered in the control design. Due to the multivariable approach and the augmented model that contains all subsystems and dominant characteristics of the real system, the resulting control system shows excellent robustness characteristics. Therefore, the presented control fulfills all the requirements of a modern steering system regarding robustness and can be adapted to different driving situations

Notes:

Vendor supplied data

Publisher Number:

2023-01-1218

Access Restriction:

Restricted for use by site license