The performance of semi-active differential systems is deeply influenced by the way in which they are actuated. Conventional semi-active systems are actuated by pressure-controlled hydraulic actuators that, despite their good dynamical behaviour, are relatively inefficient. In this work, the authors propose an innovative controlled hydraulic pump solution that is able to drastically improve the efficiency and to reduce the overall encumbrances, maintaining very high performance in terms of dynamical behaviour and corresponding frequency response. The authors investigate design criteria of the proposed solution, describe a simulation model and validate design and simulation models with experimental data.
Driving simulators have boosted the vehicle design with the introduction of human beings in the simulation loop. For a realistic functioning, the steering system must provide an accurate behaviour, since the hand wheel is a crucial human interface. Despite a large diffusion of steering models, this paper deals with the creation of a specific solution for real-time applications, characterized by precise features as numerical stability and low computational cost. The proposed model is based on a physical structure and considers all the key phenomena, such as the system elasticities, the power steering effects and friction hysteresis, making the model more accurate in terms of steering wheel torque and lateral acceleration than other angle-driven models. Its two degrees of freedom design allows a proper behaviour of the power steering sub-model; another key aspect is the friction model: the use of the LuGre formulation greatly improves accuracy and stability in comparison to the lookup table friction models. Compared to the literature reference torque-driven model, it does not need the use of a torque sensor when implemented in driving simulators having an angle-driven formulation (the input of the steering wheel is its angle and the torque needed is its output), hence it is cheaper to implement; nevertheless, its accuracy is close to state-of-art reference. An original parametrization procedure is proposed since a generalized one is not available in literature; using a steering test-rig, all the model variables are defined. The validation phase combines offline and online simulations, assessing objectively and subjectively the model’s capabilities and showing accurate results in terms of steering wheel torque, lateral acceleration and steering feeling. In addition, a minor contribution of this paper shows how different analyses (steering effort evaluation, experimental data comparison or simulator feedback computation) require different output torques.
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