The virtual force feedback for torque estimation and control in a vechicle Steer by Wire (SBW) system

This study presents the method to generates and control a force feedback with torque control for a driver steering feel in a vehicle steer by wire (SBW) system. The control algorithm of force feedback was developed by simulation and validated through experimental to investigated the steering and con...

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Main Author:	Fahami Zainal, Sheikh Muhammad Hafiz
Format:	Thesis
Language:	English
Published:	2016
Subjects:	T Technology (General)
Online Access:	http://eprints.utm.my/id/eprint/78528/1/SheikhMuhammadHafizPRAZAK2016.pdf
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id	my-utm-ep.78528
record_format	uketd_dc
spelling	my-utm-ep.785282018-08-26T11:58:32Z The virtual force feedback for torque estimation and control in a vechicle Steer by Wire (SBW) system 2016-01 Fahami Zainal, Sheikh Muhammad Hafiz T Technology (General) This study presents the method to generates and control a force feedback with torque control for a driver steering feel in a vehicle steer by wire (SBW) system. The control algorithm of force feedback was developed by simulation and validated through experimental to investigated the steering and control performance. This is done by constructed a steering wheel rig hardware in the loop (HIL) and interfaced to Matlab XPC target software. Two method are proposed to generate and control a force feedback whereby the current measurement is a main element used to estimates the steering torque . For the first control algorithm, the torque at the front axle system and self aligning are used to generate a force feedback and the PID controller with fuzzy system (PID+Fuzzy) are used to control a feedback torque. Meanwhile, the reference model was used to improves the centering steering wheel position. For a second control algorithm, the torque map and torque of steering wheel and front axle system are used to generate the force feedback. Meanwhile, the LQR control with gain scheduling (LQR+GS) are used to control the torque. Furthermore, the compensation torque is used to improves the steering feel and to stabilize the system by varying a compensation gains. The results demonstrate shown, that the torque control using a LQR+GS method is improves against a torque map and 90% similar to Electric Power Steering (EPS) system. This is because there are multiple gains varying that able to improve a steering control performance. On the others hand, the hyperbolic tangent and linear equation proposed improves a vehicle maneuverability at low and high speed. 2016-01 Thesis http://eprints.utm.my/id/eprint/78528/ http://eprints.utm.my/id/eprint/78528/1/SheikhMuhammadHafizPRAZAK2016.pdf application/pdf en public http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:97391 phd doctoral Universiti Teknologi Malaysia, UTM Razak School in Engineering and Advanced Technology UTM Razak School in Engineering and Advanced Technology
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	T Technology (General)
spellingShingle	T Technology (General) Fahami Zainal, Sheikh Muhammad Hafiz The virtual force feedback for torque estimation and control in a vechicle Steer by Wire (SBW) system
description	This study presents the method to generates and control a force feedback with torque control for a driver steering feel in a vehicle steer by wire (SBW) system. The control algorithm of force feedback was developed by simulation and validated through experimental to investigated the steering and control performance. This is done by constructed a steering wheel rig hardware in the loop (HIL) and interfaced to Matlab XPC target software. Two method are proposed to generate and control a force feedback whereby the current measurement is a main element used to estimates the steering torque . For the first control algorithm, the torque at the front axle system and self aligning are used to generate a force feedback and the PID controller with fuzzy system (PID+Fuzzy) are used to control a feedback torque. Meanwhile, the reference model was used to improves the centering steering wheel position. For a second control algorithm, the torque map and torque of steering wheel and front axle system are used to generate the force feedback. Meanwhile, the LQR control with gain scheduling (LQR+GS) are used to control the torque. Furthermore, the compensation torque is used to improves the steering feel and to stabilize the system by varying a compensation gains. The results demonstrate shown, that the torque control using a LQR+GS method is improves against a torque map and 90% similar to Electric Power Steering (EPS) system. This is because there are multiple gains varying that able to improve a steering control performance. On the others hand, the hyperbolic tangent and linear equation proposed improves a vehicle maneuverability at low and high speed.
format	Thesis
qualification_name	Doctor of Philosophy (PhD.)
qualification_level	Doctorate
author	Fahami Zainal, Sheikh Muhammad Hafiz
author_facet	Fahami Zainal, Sheikh Muhammad Hafiz
author_sort	Fahami Zainal, Sheikh Muhammad Hafiz
title	The virtual force feedback for torque estimation and control in a vechicle Steer by Wire (SBW) system
title_short	The virtual force feedback for torque estimation and control in a vechicle Steer by Wire (SBW) system
title_full	The virtual force feedback for torque estimation and control in a vechicle Steer by Wire (SBW) system
title_fullStr	The virtual force feedback for torque estimation and control in a vechicle Steer by Wire (SBW) system
title_full_unstemmed	The virtual force feedback for torque estimation and control in a vechicle Steer by Wire (SBW) system
title_sort	virtual force feedback for torque estimation and control in a vechicle steer by wire (sbw) system
granting_institution	Universiti Teknologi Malaysia, UTM Razak School in Engineering and Advanced Technology
granting_department	UTM Razak School in Engineering and Advanced Technology
publishDate	2016
url	http://eprints.utm.my/id/eprint/78528/1/SheikhMuhammadHafizPRAZAK2016.pdf
_version_	1747818007255580672

The virtual force feedback for torque estimation and control in a vechicle Steer by Wire (SBW) system

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