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E- 579

Mechatronics Modeling and Simulation

Term Project - Steer By Wire

Instructor

Dr. Shuvra Das

Divesh Mittal


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April 17, 2006 E-579 - Steer By Wire system 2

Contents

Introduction

System level modeling

Bond graph model SBW control

Results and Discussion

Limitations and Future work

References


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Introduction and Significance

By wire system is getting popular because of its

efficient and accurate operations.

There are still few concerns and issues.

Idea here is to model simple steer by wire system and

see if we can replicate the results from existing

hydraulic steering system.

This is simple model to understand, idea needs to beextended in order to get more close to real world.


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Problem Definition

Understand and prepare system level model of SteerBy Wire (SBW) system.

Making the suitable assumptions to break down

whole system into simple energy storage ordissipating elements.

Convert above information into bond graph modeland simulate it on 20-SimTM.

Plot wheel angle and validate it with similar resultsfrom other references.


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Steer By Wire System

[Embedded Steer-by-Wire System Development, Embedded World, 17-19 February 2004,

Nuremberg, Germany]


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Introduction

System level modeling

Bond graph model SBW control

Results and Discussion

Limitations and Future work

References


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System Level Model

SBW

Steering WheelSubsystem

ControllerSubsystem

Front WheelSubsystem

Steering WheelMotor

Torque Sensor

Steering AngleSensor

SteeringActuator (Motor)

Rack / PinionGear

Tire-Wheelsubsystem

Steering Column

Tie rod

Control Unit

Reactive torque

Control Path


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Modeling of SBW

SBW system is composed of steering subsystem, controllerand tire subsystem.

Model subsystems with the help of major components.

Each component is a combination of capacitive/inertia/resistorelements and is connected to other components with either atransformer / gyrator elements or series / parallel junction.


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Block Diagram

TorqueInput

ControlUnit

DCMotor

Rack /piniongear

Tire/wheelassembly


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Without feedback/No control

IRIMtrhftInrtiRCFront wheel

actuator motor

Steering wheel

Rack/Pinion, tie rod

and tire asembly


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Front wheel angle

Front Wheel Angle ( Without Feedback)

0 1 2 3 4 5 6 7 8 9 10

time {s}

-30

-20

-10

0

10

20

30

40

50

60

70

steeringwheelangle

frontwheelangle


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SBW Controller

Steering wheel Motor Controller

Front wheel actuator motor controller


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Controller

SBW controller [3]


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Gain factor for Steering control

Gain for steering motor actuator [3]


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Steering Torque Controller

IArmrInnRArmrRin

IotorShaftIneria

otorhaftesistac

trftli


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Results

Steer by wire was modeled using bond graph

technology.

Controller for SBW improves maneuverability

and handling.

Reactive torque can be controlled using torquecontrol mechanism.


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Limitations and Future Work

Torque control mapping for steering motor.

Front wheel motor voltage control.

Importing Matlab file for lookup tables.


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References

1. Srihari Vijaykumar ,Analysis of an electric powerassisted steering system using bond graphs, SAEpaper 2003-01-0586.

2. Srihari Vijaykumar , Application of bond graph

technique to the design of passenger car steeringsystem, SAE paper 2002-01-0617.

3. Se-Wook Oh, The development of an advancedcontrol method for the steer-by-wire system toimprove the vehicle maneuverability and stability,SAE paper 2003-01-0578


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Questions ??

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