Synthetic torque feedback to improve heavy vehicle drivability

Williams, Daniel E.

doi:10.1243/09544070jauto960

Cited by 15 publications

(10 citation statements)

References 11 publications

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“…Let y be the displacement, F be the friction force, and F c be the Coulomb-friction force. Then, the form of Dahl's model is shown in equation (5) To obtain a time-domain model, equation 5can be transformed into equation (6) through the application of the chain rule…”

Section: Dynamic Model Of the Mechanical Systemmentioning

confidence: 99%

“…Notably, in this model, the friction force is only a function of the displacement and the sign of the velocity, implying that the friction force is only positiondependent. By applying equation (6) to define T fric in equation 1, u sw and T fric are the substitutions of y and F, respectively. Similarly, by applying equation 6to define F fric in equation 3, x and F fric are the substitutions of y and F, respectively.…”

Section: Dynamic Model Of the Mechanical Systemmentioning

confidence: 99%

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An investigation on the energy-saving effect of a hybrid electric-power steering system for commercial vehicles

Park

Jeon

2018

Proceedings of the Institution of Mechanical Engineers, Part D:

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This article describes an investigation on the energy consumption of an alternative hybrid electric power steering system. The conventional hydraulic power steering system that is widely used in commercial vehicles can provide high steering-feel and reliability performances. However, since the combustion engine drives the pump, the hydraulic power steering system is energetically inefficient. To cope with this disadvantage of the hydraulic power steering system and to provide a technical base for the steering-related advanced driver assistance system, the Hybrid electric power steering system offers a solution for heavy commercial vehicles. The ''Hybrid'' of the title means that, for heavy commercial vehicles, the electric power steering system and electro-hydraulic power steering system are integrated in a ball-nut steering system. In this paper, to verify the energy-saving effect of the Hybrid electric power steering system, a dynamic model of the Hybrid electric power steering system was developed to estimate the energy consumption in the steering system. Furthermore, the fuel-efficiency test for the Hybrid electric power steering system were conducted while replacing the two steering systems (the conventional hydraulic power steering and Hybrid electric power steering system) in one vehicle on the chassis dynamometer for the proposed driving cycle. The driving cycle including the steering-angle profile has been developed to clearly investigate the effect on the energy-saving potential by the types of the steering system (hydraulic power steering and Hybrid electric power steering). The simulation results of the energy-consumption estimation showed that the hybrid electric power steering system can reduce the steering-system energy consumption by more than 50% under the proposed driving cycle. Also, the vehicle testing of the chassis dynamometer revealed that the Hybrid electric power steering system can improve the fuel efficiency of the vehicle by 1% for the specified driving cycle.

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Section: Dynamic Model Of the Mechanical Systemmentioning

confidence: 99%

Section: Dynamic Model Of the Mechanical Systemmentioning

confidence: 99%

An investigation on the energy-saving effect of a hybrid electric-power steering system for commercial vehicles

Park

Jeon

2018

Proceedings of the Institution of Mechanical Engineers, Part D:

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“…When the load on the steering system is higher, for example during parking manuouevers, the pump flow can be increased and the hydraulic system will also provide the level of assistance torque required to turn the wheels. TRW also has a similar solution, the ColumnDrive, presented by Williams (2009). The electric motor on the steering column works to generate a synthetic torque feedback experienced by the driver while the hydraulic system generates the necessary amount of assistance torque.…”

Section: On Electrohydraulic Pressure Control For Power Steering Applmentioning

confidence: 99%

On Electrohydraulic Pressure Control for Power Steering Applications : Active Steering for Road Vehicles

Dell’Amico¹

2016

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This thesis deals with the Electrohydraulic Power Steering system for road vehicles, using electronic pressure control valves. With an ever increasing demand for safer vehicles and fewer traffic accidents, steering-related active safety functions are becoming more common in modern vehicles. These are functions that aim at assisting the driver in more or less critical situations and could be anything from applying a guiding steering torque to taking over the steering completely. Future road vehicles will also evolve towards autonomous vehicles, with several safety, environmental and financial benefits. A key component in realising such solutions is active steering. This refers to the possibility to control the steering angle or steering torque with an electronic signal.The power steering system was initially developed to ease the driver's workload by assisting in turning the wheels. This is traditionally done through an open-centre hydraulic system and heavy trucks must still rely on fluid power, due to the heavy work forces. The system provides a robust solution but suffers from poor energy efficiency and lacks the possibility of active control. Since the purpose of the original system is to control the assistive pressure, one way would be to use proportional pressure control valves. Since these are electronically controlled, active steering is possible and with closed-centre, energy efficiency can be significantly improved on.In this work, such a system is analysed in detail with the purpose of investigating the possible use of the system for Boost curve control, the most common control strategy in power steering systems, and position control for autonomous driving. Commercially available valves are investigated since they provide an attractive solution. A model-based approach is adopted, where simulation of the system is an important tool. Detailed models at both a component level and a system level are developed and form the basis of the analysis and control design. Another important tool is hardware-in-the-loop simulation. A test rig of the system, that also includes the original system, is developed. The rig supports the modelling and validation process, as it also makes it possible to verify control concepts on a real system. This work has shown how proportional pressure control valves can be used for Boost curve control and position control and what implications this has i on a system level. As it turns out, the valves add a great deal of phase shift and with the high gain from the Boost curve, this creates a control challenge. The problem can be handled by tuning the Boost gain, pressure response and damping and has been effectively shown through simulation and experiments. For position control, there is greater freedom to design the controller to fit the system. The pressure response can be made fast enough for this case and the phase shift is much less critical.Keywords: Electrohydraulic power steering, pressure control, closed-centre steering, Boost curve control, autonomous driving, hardware-...

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“…[20][21][22][23][24][25] or impedance (torque) control, e.g. [14,[26][27][28] respectively. Fankem et al in [23] and Hayama et al in [24] presented this for SbW-FFb systems.…”

Section: Introductionmentioning

confidence: 99%

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

Chugh

Bruzelius

Klomp

et al. 2019

Vehicle System Dynamics

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In this paper, a methodology to capture the model-based haptic feedback control reference for closed-loop steering systems is demonstrated. The parameterisation is based on the measurements of open-loop driving manoeuvres for the inertia-spring-damperfriction reference model. The steady-state and transient manoeuvres are used to identify the model parameters. The reference model is limited to the haptic feedback of driver excitation in the linear vehicle handling range and intended to be used in closed-loop steering control strategies. The model parameters have an intuitive interpretation that allows to be used in both admittance and impedance control setting. The feasibility of the proposed model is demonstrated in a validated simulation environment for electric power assisted steering and on a real hardware for the steer-by-wire force-feedback case.

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Synthetic torque feedback to improve heavy vehicle drivability

Cited by 15 publications

References 11 publications

An investigation on the energy-saving effect of a hybrid electric-power steering system for commercial vehicles

An investigation on the energy-saving effect of a hybrid electric-power steering system for commercial vehicles

On Electrohydraulic Pressure Control for Power Steering Applications : Active Steering for Road Vehicles

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

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