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
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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 be extended in order to get more close to real world.

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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.

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E-579 - Steer By Wire system

Steer By Wire System

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

Reference: http://www.Howstuffworks.com

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E-579 - Steer By Wire system

 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 Wheel Subsystem

Steering Wheel Motor Torque Sensor Steering Angle Sensor Steering Column
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Controller Subsystem

Front Wheel Subsystem Steering Actuator (Motor) Rack / Pinion Gear Tie rod Tire-Wheel subsystem

Control Unit Reactive torque Control Path

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.

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Block Diagram
Torque Input Control Unit DC Motor

Rack /pinion gear

Tire/wheel assembly

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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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Manual Rack and pinion steering system

I
SteeringWheelInertia

I
MassofRack

I
TireInertia

MSe
Constant3 MSe2

1
OneJunction 1

0
ZeroJunction 1

TF

TF

MSe

OneJunction 2 RackPinionGearratio OneJunction 3 ZeroJunction 2 SteeringArmRatio OneJunction 5SelfAligningTorque Constant 1

R R C

TieRodResistance OneJunction 4

Steeringwheelresistance SteeringColumnStiffness

C
TieRodStiffness

Integrate 1 Constant 4

Steering wheel/ column

Rack and pinion / tire assembly

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Without feedback/No control

Front wheel actuator motor

Steering wheel
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IR IR M o tiC r S h a f n e
E-579 - Steer By Wire system

Rack/Pinion, tie rod and tire asembly

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Data[3]

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Front wheel angle

Front Wheel Angle ( Without Feedback)
70

steeringwheelangle frontwheelangle
60

50

40

30

20

10

-10

-20

-30

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10

Validation

Result from reference [1]

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Front wheel angle Vs steering wheel angle

Front W heel Angle s Steering angle W itho t Fee a
rontwheelangle

1.70
2

00
-1

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15

E-579 - Steer By Wire system steeringwheelangle

20

25

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Steering subsystem

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Irac R C IafM RM Mie os tIom rS Sfln ho atc nh ea th ifa tn R e ic e Aera rc s mo aa p ttm un ec Ie n d A ri ts u R e

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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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SBW Controller
Steering wheel Motor Controller Front wheel actuator motor controller

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Controller

SBW controller [3]

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Steering Motor Controller

Generates reactive torque. Easy to drive at low speed and vice versa. Reactive torque is function of velocity

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Gain factor for Steering control

Gain for steering motor actuator [3]

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Feed forward control

Bicycle model for steering behavior [3]

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Steering Torque Controller

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IM R C Ierc Rp M ore teln rS S hm ai fo Ih nc ta ifn to R e s iM At rAh ma af ta u e Irn n d c m tc u R e s i

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Reaction Torque Control

Reaction Torque Control
Extratorque elocity {m/s} ri er Torque input { .m} Reaction Torque

00

200

100

-100

time {s}

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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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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.

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Proposed Time line VS Achievement Mapping

Proposed date March 13 March 20 March 27 March 29 April 02 April 04 April 09 April 11 April 17 April 21
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Task Topic search Background research Understanding the system Proposal Presentation Basic bond graph modeling Decide on modeling comple ity of sensors Modeling of controller Validation of results Final presentation Final report
E-579 - Steer By Wire system

Status Achieved at time Achieved at time Achieved at time Achieved at time Achieved at time Achieved at time Started at time but finished on April 15 Achieved at time Achieved at time Should be done in time.
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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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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 power assisted steering system using bond graphs, SAE paper 2003-01-0586. 2. Srihari Vijaykumar , Application of bond graph technique to the design of passenger car steering system, SAE paper 2002-01-0617. 3. 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

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Questions ??

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