Divesh Mittal
E- 579 Mechatronics Modeling and Simulation Term Project - “ Steer By Wire” Instructor Dr. Shuvra Das. Divesh Mittal. Contents. Introduction System level modeling Bond graph model SBW control Results and Discussion Limitations and Future work References. Introduction and Significance.
Divesh Mittal
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E- 579Mechatronics Modeling and SimulationTerm Project - “ Steer By Wire”InstructorDr. Shuvra Das Divesh Mittal
Contents • Introduction • System level modeling • Bond graph model • SBW control • Results and Discussion • Limitations and Future work • References E-579 - Steer By Wire system
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 be extended in order to get more close to real world. E-579 - Steer By Wire system
Problem Definition • Understand and prepare system level model of Steer By Wire (SBW) system. • Making the suitable assumptions to break down whole system into simple energy storage or dissipating elements. • Convert above information into bond graph model and simulate it on 20-SimTM. • Plot wheel angle and validate it with similar results from other references. E-579 - Steer By Wire system
Steer By Wire System [“Embedded Steer-by-Wire System Development”, Embedded World, 17-19 February 2004, Nuremberg, Germany] E-579 - Steer By Wire system
Steer by Wire Reference: http://www.Howstuffworks.com E-579 - Steer By Wire system
Introduction • System level modeling • Bond graph model • SBW control • Results and Discussion • Limitations and Future work • References E-579 - Steer By Wire system
Steering Wheel Motor Steering Actuator (Motor) System Level Model SBW Controller Subsystem Front Wheel Subsystem Steering Wheel Subsystem • Control Unit • Reactive torque • Control Path Torque Sensor Rack / Pinion Gear Steering Angle Sensor Tie rod Tire-Wheel subsystem Steering Column E-579 - Steer By Wire system
Modeling of SBW • SBW system is composed of steering subsystem, controller and tire subsystem. • Model subsystems with the help of major components. • Each component is a combination of capacitive/inertia/resistor elements and is connected to other components with either a transformer / gyrator elements or series / parallel junction. E-579 - Steer By Wire system
Block Diagram Torque Input Control Unit DC Motor Rack /pinion gear Tire/wheel assembly E-579 - Steer By Wire system
Introduction • System level modeling • Bond graph model • SBW control • Results and Discussion • Limitations and Future work • References E-579 - Steer By Wire system
Manual Rack and pinion steering system Steering wheel/ column Rack and pinion / tire assembly E-579 - Steer By Wire system
Without feedback/No control Front wheel actuator motor Rack/Pinion, tie rod and tire asembly Steering wheel E-579 - Steer By Wire system
Data[3] E-579 - Steer By Wire system
Front wheel angle E-579 - Steer By Wire system
Validation Result from reference [1] E-579 - Steer By Wire system
Front wheel angle Vs steering wheel angle 1.70 400 E-579 - Steer By Wire system
Steering subsystem E-579 - Steer By Wire system
Introduction • System level modeling • Bond graph model • SBW control • Results and Discussion • Limitations and Future work • References E-579 - Steer By Wire system
SBW Controller • Steering wheel Motor Controller • Front wheel actuator motor controller E-579 - Steer By Wire system
Controller SBW controller [3] E-579 - Steer By Wire system
Steering Motor Controller • Generates reactive torque. • Easy to drive at low speed and vice versa. • Reactive torque is function of velocity E-579 - Steer By Wire system
Gain factor for Steering control Gain for steering motor actuator [3] E-579 - Steer By Wire system
Feed forward control Bicycle model for steering behavior [3] E-579 - Steer By Wire system
Steering Torque Controller E-579 - Steer By Wire system
Reaction Torque Control E-579 - Steer By Wire system
Introduction • System level modeling • Bond graph model • SBW control • Results and Discussion • Limitations and Future work • References E-579 - Steer By Wire system
Results • Steer by wire was modeled using bond graph technology. • Controller for SBW improves maneuverability and handling. • Reactive torque can be controlled using torque control mechanism. E-579 - Steer By Wire system
Proposed Time line VS Achievement Mapping E-579 - Steer By Wire system
Introduction • System level modeling • Bond graph model • SBW control • Results and Discussion • Limitations and Future work • References E-579 - Steer By Wire system
Limitations and Future Work • Torque control mapping for steering motor. • Front wheel motor voltage control. • Importing Matlab file for lookup tables. E-579 - Steer By Wire system
References • Srihari Vijaykumar ,”Analysis of an electric power assisted steering system using bond graphs”, SAE paper 2003-01-0586. • Srihari Vijaykumar ,” Application of bond graph technique to the design of passenger car steering system”, SAE paper 2002-01-0617. • Se-Wook Oh,” The development of an advanced control method for the steer-by-wire system to improve the vehicle maneuverability and stability”, SAE paper 2003-01-0578 E-579 - Steer By Wire system
Questions ?? E-579 - Steer By Wire system
