Steer-by-Wire Control of a Light Commercial Vehicle Using a Hardware-in-the-Loop Test Setup

Oncu, Sinan; Güvenç, Levent; Ersolmaz, Server; Öztürk, Serdar; Kılıç, Namık; Sinal, Mustafa

doi:10.4271/2007-01-4198

Cited by 10 publications

(3 citation statements)

References 5 publications

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“… and 1 ( 180 7) and ( 8) above or (6). Note that these equations will degenerate into a single equation for each of the two real root boundaries.…”

Section: A Absolute Stability In the Z Domainmentioning

confidence: 99%

“…The parameter space approach is computationally fast, has the advantage of obtaining solution regions rather than one set of controller gains and can easily handle time delays but lacks from the need to pre-specify the controller structure and being able to handle only two parameters at a time [3,5]. Parameter space robust control has recently been used successfully in a large number of applications ranging from yaw stability control and steering control to control of actuation in atomic force microscopy [6][7][8][9][10]. Several researchers have applied the parameter space approach to continuous time PID controllers for which the abovementioned weaknesses of the parameter space approach are overcome as the controller structure is fixed and as there are only three controller parameters to be tuned, i.e.…”

Section: Introductionmentioning

confidence: 99%

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Multi-Objective Digital PID Controller Design in Parameter Space and its Application to Automated Path Following

2021

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This paper presents a multi-objective digital PID controller design method using the parameter space approach of robust control. Absolute stability is treated first by finding the digital PID controller gain parameter space corresponding to closed loop poles being inside the unit circle. Additionally, phase margin, gain margin and a mixed sensitivity bound are treated as frequency domain constraints. Determination of digital PID controller parameter space regions satisfying these constraints is presented. All of these regions are superimposed to obtain a multi-objective digital PID controller gain parameter space solution region. The path following controller design of an automated driving vehicle is used as an example to illustrate the method. This multi-objective parameter space design approach can be extended to other digital controller forms also.

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“… and 1 ( 180 7) and ( 8) above or (6). Note that these equations will degenerate into a single equation for each of the two real root boundaries.…”

Section: A Absolute Stability In the Z Domainmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Multi-Objective Digital PID Controller Design in Parameter Space and its Application to Automated Path Following

2021

Self Cite

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“…Different from the traditional steering system, the SBW system eliminates the mechanical joints from steering wheel to the front wheels, and replaces them with two motors and an electric control unit to generate the feedback torque and steering torque respectively. 1,2 Without the mechanical constrains, the transmission ratio of the steering system can be designed to vary with the driving condition, by which means the maneuverability is improved.…”

Section: Introductionmentioning

confidence: 99%

Two-way H_∞ control method with a fault-tolerant module for steer-by-wire system

Zhang

Zhao

2016

Proceedings of the Institution of Mechanical Engineers, Part C:

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To improve the maneuverability, stability, and reliability of the steer-by-wire system, a two-way H∞ control method with a fault-tolerant module is proposed in this paper. First, a two-way H∞ control scheme is proposed. Two controllers are designed in this scheme: one is used as a feedback controller as a general practice to stabilize the system and detect the tracking error; the other is used as a feed forward controller to make the output of the system follow the driver’s steering intention rapidly and precisely. Second, a fault-tolerant module aiming at front wheel angle sensor which is an important feedback signal to the system is added to improve the reliability of the system. A revised Kalman filter is applied in the fault-tolerant module to reconfigure the front wheel angle as a reference value and a substitute when the sensor fails, thus replacing hardware redundancy by software redundancy in a cost-effective way. Lastly, simulations by Matlab/Simulink and CarSim software and hardware-in-the-loop experiments are conducted and effectiveness of the proposed control method is demonstrated by simulation and experimental results and numerical analyses.

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Hardware-in-the-loop simulation of automatic steering control: Outer-loop and inner-loop control design

Ping

Hudha

Harun

et al. 2010

2010 11th International Conference on Control Automation Robotics &Amp; Vision

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Steer-by-Wire Control of a Light Commercial Vehicle Using a Hardware-in-the-Loop Test Setup

Cited by 10 publications

References 5 publications

Multi-Objective Digital PID Controller Design in Parameter Space and its Application to Automated Path Following

Multi-Objective Digital PID Controller Design in Parameter Space and its Application to Automated Path Following

Two-way H_∞ control method with a fault-tolerant module for steer-by-wire system

Hardware-in-the-loop simulation of automatic steering control: Outer-loop and inner-loop control design

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Steer-by-Wire Control of a Light Commercial Vehicle Using a Hardware-in-the-Loop Test Setup

Cited by 10 publications

References 5 publications

Multi-Objective Digital PID Controller Design in Parameter Space and its Application to Automated Path Following

Multi-Objective Digital PID Controller Design in Parameter Space and its Application to Automated Path Following

Two-way H∞ control method with a fault-tolerant module for steer-by-wire system

Hardware-in-the-loop simulation of automatic steering control: Outer-loop and inner-loop control design

Contact Info

Product

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About

Two-way H_∞ control method with a fault-tolerant module for steer-by-wire system