Friction and Stick-Slip Phenomena in Steering System - Modeling and Simulation Studies

Lozia, Zbigniew; Żardecki, Dariusz

doi:10.4271/2007-01-1153

Cited by 9 publications

(7 citation statements)

References 17 publications

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“…In [11,12] the steering-system is modelled using three degrees of freedom (DOF) with a stiffness between the steering wheel and the assistance motor and a stiffness between the steering rack and the assistance motor. Reference [13] uses a Coulomb friction model and describes the steering wheel torque during cornering sufficiently accurate, This is also shown by Pfeffer et al [7], especially around the centre position. In [10] a concept is developed with an additional motor on the steering-wheel side to enable active features like a parking pilot, lane keeping assist, emergency lane assist, active yaw control and torque reference control.…”

Section: Introductionmentioning

confidence: 90%

Implementation and validation of a three degrees of freedom steering-system model in a full vehicle model

Loof

Besselink

Nijmeijer

2018

Vehicle System Dynamics

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This paper describes the coupling between a three degrees of freedom steering-system model and a multi-body truck model. The steering-system model includes the kingpin geometry to provide the correct feedback torque from the road to the steering-system. The steering-system model is combined with a validated tractor semi-trailer model. An instrumented tractor semi-trailer has been tested on a proving ground and the steering-wheel torque, pitmanarm angle, kingpin angles and drag-link force have been measured during steady-state cornering, a step steer input and a sinusoidal steering input. It is shown that the steering-system model is able to accurately predict the steering-wheel torque for all tests and the vehicle model is accurate for vehicle motions up to a frequency where the lateral acceleration gain is minimum. Even though the vehicle response is not accurate above this frequency, the steeringwheel torque is still represented accurately.

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Section: Introductionmentioning

confidence: 90%

Implementation and validation of a three degrees of freedom steering-system model in a full vehicle model

Loof

Besselink

Nijmeijer

2018

Vehicle System Dynamics

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“…In order to develop an exact steering system model diverse attributes such as elasticity, friction or free play have to be examined. Examples of very detailed steering system models can be found in different papers (Mouri et al, 2007;Pfeffer, 2006;Badawy et al, 1999;Kushiro and Yamomoto, 2006;Lozia and Zardecki, 2007;Neureder, 2001;Loth, 1996;Liao and Du, 2003;Kim, 2011). However, in this paper a steering system model is presented, which on the one hand is capable of reproducing the main on-centre handling characteristics and phenomena and at the same time is simple enough to demonstrate the main interactions of the vehicle subsystems.…”

Section: Steering Systemmentioning

confidence: 99%

“…A change in the rack velocity leads to an increasing or decreasing maximum force level. This phenomenon is known as the Stribeckeffect and gets the model more versatile (Pfeffer, 2006;Lozia and Zardecki, 2007;Wohnhass, 1994). The Stribeck effect as shown in Figure 4 describes the velocity dependency of the maximum force level and characterises the nonlinear transition from stick to slip with increasing velocity.…”

Section: Steering Systemmentioning

confidence: 99%

“…Therefor all defined test manoeuvers must be fitted to the on-centre handling driving range to permit a precise validation of the model. Several papers have already dealt with this topic (Mouri et al, 2007;Pfeffer, 2006;Kobertz, 2003;Lozia and Zardecki, 2007;Neureder, 2001;Loth, 1996;Liao and Du, 2003;ISO 13674-1:2010ISO 13674-1: , 2010. In most cases the dominant test manoeuvre is the weave or micro weave test (ISO 13674-1:2010(ISO 13674-1: , 2010.…”

Section: Test Designmentioning

confidence: 99%

See 1 more Smart Citation

Vehicle and steering system dynamics in the context of on-centre handling

Ende

Küçükay

Henze

et al. 2015

Int.J Automot. Technol.

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The interaction of the vehicle and steering system is important to evaluate the vehicle on-centre handling. To analyse the vehicle and steering system dynamics at small steering wheel angle inputs a methodological approach to validate a simulation model is developed in this paper. The presented model is focused on the description of the major on-centre handling phenomena and characteristics. For the validation of the model adjusted test manouevres and a certain procedure to achieve highly reproducible measurement data are described. Due to the collected measurement data it is possible to describe the vehicle on-centre behaviour and to validate the overall model in a phased manner and more exactly. The results show the importance of the steering system characteristics and its influence on the on-centre handling regarding small steering wheel angles at low frequencies. Next to the steering system friction and elasticity the influence of the vehicle and steering system hysteresis loop is presented.

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“…A detailed literature research reveals several models with multiple DoFs and specific peculiarities, as introduced by Adams and Topping 11 and Lozia and Zardecki 12 in their papers.…”

Section: State Of the Artmentioning

confidence: 99%

Development of a real-time steering system model for driving simulators

Certosini

Vinattieri

Capitani

et al. 2018

Proceedings of the Institution of Mechanical Engineers, Part D:

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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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Friction and Stick-Slip Phenomena in Steering System - Modeling and Simulation Studies

Cited by 9 publications

References 17 publications

Implementation and validation of a three degrees of freedom steering-system model in a full vehicle model

Implementation and validation of a three degrees of freedom steering-system model in a full vehicle model

Vehicle and steering system dynamics in the context of on-centre handling

Development of a real-time steering system model for driving simulators

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