An approach to develop haptic feedback control reference for steering systems using open-loop driving manoeuvres

Chugh, Tushar; Bruzelius, Fredrik; Klomp, Matthijs; Shyrokau, Barys

doi:10.1080/00423114.2019.1662923

Cited by 13 publications

(15 citation statements)

References 30 publications

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“…1) The number of load violations: The observation at Widang weighbridge is carried out during 4 (four) days; the number of overload violations can be seen in the Table below. [19], [20]. Based on the type of vehicle, the Outboard Truck has not measured yet so that in the Widang weighbridge and the Losarang weighbridge, there is no data on it.…”

Section: A Overload Analysismentioning

confidence: 99%

“…1 Comparison of violations 3) Transportation type: The Figure below shows that the percentage of vehicle types violation of Pick Up, Large Trucks, and Collected Trucks in Widang weighbridge is higher than the Losarang weighbridge. Simultaneously, the vehicle type violation of Light Truck at Widang is lower than Losarang weighbridge[19],[20]. Based on the type of vehicle, the Outboard Truck has not measured yet so that in the Widang weighbridge and the Losarang weighbridge, there is no data on it.…”

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confidence: 99%

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The Relationship between Overloading and Over Dimension of Freight Vehicle

Budiharjo¹,

Fauzi²,

Masrukhin³

et al. 2021

International Journal on Advanced Science, Engineering and Information Technology

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The freight vehicle, as the primary mode of goods distribution, has a relatively small carrying capacity. However, it is forced to be able to meet the demand. As a result, many business actors overload their freight vehicles to reduce transportation costs. In organizing the transportation of goods, the indications are such violations in vehicle dimensions (over dimensions) in line with the business actors' vehicle overload. This study aims to determine the effect of over-size on an overload of the freight vehicle. This study's research method is a quantitative method that used a survey technique to collect the data and used the statistical method of regression and correlation as the analysis method. The study results reveal that the level of overloading at Widang weighbridge reached an average of 44.72% per day. In comparison, the level of overloading at the Losarang weighbridge reached 87.85% per day. The vehicle dimension measurement survey results showed that from 159 vehicle samples, there were 107 over-dimension vehicles in the form of length, width, and height, and there were 32 vehicles, which increased their tire size. The statistical analysis of regression and correlation tests showed that only the addition of the maximum vehicle dimensions, which had a significant effect on the overweight.

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Section: A Overload Analysismentioning

confidence: 99%

mentioning

confidence: 99%

The Relationship between Overloading and Over Dimension of Freight Vehicle

Budiharjo¹,

Fauzi²,

Masrukhin³

et al. 2021

International Journal on Advanced Science, Engineering and Information Technology

View full text Add to dashboard Cite

show abstract

“…Fankem and Muller proposed the torque map-based method. 4,5 The rack force is used to transmit tire disturbance to the driver and the steering wheel torque is used for return performance. This method is a good way to generate steering feel without aligning moment model which is difficult to model.…”

Section: Introductionmentioning

confidence: 99%

Haptic control of steer-by-wire systems using parameter estimation of rack system lateral load model

Lee

Kim

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part D:

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This paper describes a haptic control of steer-by-wire systems for rendering the conventional steering system under various road conditions using parameter estimation of rack system lateral load model. To design the conventional steering system model, the dynamic model of a rack system has been developed as a mass-spring-damper system with a friction model. An online parameter estimation of the rack system was designed to consider the various road conditions in the haptic rendering. In a steering wheel system, which is a haptic device, a limit cycle, and instable behavior can occur due to the sampling rate and quantization. To prevent the limit cycle and instable behavior, a passivity analysis was conducted and constraint conditions of the rendering coefficient was derived. The haptic control algorithm is designed to render the conventional steering system without limit cycles using passivity conditions. The performance of the proposed controller was evaluated via both computer simulations and vehicle tests under various steering conditions. The results demonstrate that the proposed algorithm ensures haptic rendering performance on dry and wet asphalt conditions.

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“…It provides the driver with a desired part of the steering feel. This steering feedback is dependent on the haptic control strategy [3,4], which further consists of various software functions. One of them is the basic steering assist function.…”

Section: Introductionmentioning

confidence: 99%

“…The unknown parameters, inertia, damping and stiffness (J arm , b arm and c arm ), were estimated by minimizing the root mean square error in gain and phase between the model (Ĥ adm ) and the measured (H adm ) response [4]. An inertia-spring-damper model is sufficient to fit the arm dynamics [12].…”

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confidence: 99%

Musculoskeletal Driver Model for the Steering Feedback Controller

et al. 2021

Self Cite

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This paper aims to find a mathematical justification for the non-linear steady state steering haptic response as a function of driver arm posture. Experiments show that different arm postures, that is, same hands location on the steering wheel but at different initial steering angles, result in a change in maximum driver arm stiffness. This implies the need for different steering torque response as a function of steering angle, which is under investigation. A quasi-static musculoskeletal driver model considering elbow and shoulder joints is developed for posture analysis. The torque acting in the shoulder joint is higher than in the elbow. The relationship between the joint torque and joint angle is linear in the shoulder, whereas the non-linearity occurs in the elbow joint. The simulation results qualitatively indicate a similar pattern as compared to the experimental muscle activity results. Due to increasing muscle non-linearity at high steering angles, the arm stiffness decreases and then the hypothesis suggests that the effective steering stiffness is intentionally reduced for a consistent on-center haptic response.

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An approach to develop haptic feedback control reference for steering systems using open-loop driving manoeuvres

Cited by 13 publications

References 30 publications

The Relationship between Overloading and Over Dimension of Freight Vehicle

The Relationship between Overloading and Over Dimension of Freight Vehicle

Haptic control of steer-by-wire systems using parameter estimation of rack system lateral load model

Musculoskeletal Driver Model for the Steering Feedback Controller

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