-In this paper, a method to reproduce realistic driving feeling and improve the returnability of steer-by-wire systems (SBW) is proposed by measuring the roadwheel motor's current directly. The key contribution presented here is a novel method to recreate the driving feeling in term of force feedback with simple and cheap current sensors. A current sensor is used to fully measure the steering torque on the rack of steering mechanism. This measured steering torque therefore, includes the overall effects of road conditions, aligning moments, tire properties and so on. Beside that, a free control scheme is proposed to improve returnability as well as the handwheel stability in a free motion. Moreover, during this research, the significant frequency effect of handwheel motions was found. This effect could be useful and valuable for improving steer-by-wire development based on torque-map based method. This method is investigated with simulation results using the control design and simulation module in LabVIEW programming language. The simulated results show that this method offers a cheaper and simpler solution for the development of steer-by-wire systems. In addition, stability and returnability of handwheel in steer-by-wire systems could be improved.
In this paper, a novel haptic interface is proposed for general teleoperation of wheeled and tracked vehicle. The new mechanism of the proposed haptic interface shown in Fig. 1 not only allows human operator to easily tele-operate various types of target vehicles including car-like vehicles, mobile robots, tracked vehicles, but also improve the operators' perception of target vehicles' operating status and its environment by introducing "cornering feel" in the field of vehicle teleoperation. In addition, the proposed interface enables human operators to give commands to (or drive) target vehicle in a way which is carried out in traditional direct control or driving. Experiments have been done to carefully evaluate and test the performance of the proposed interface. The results have shown that the developed haptic master device is sufficient and suitable for general wheeled and trackedvehicle teleoperation.
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