E- 579 Mechatronics Modeling and Simulation Term Project - “ Steer By Wire” Instructor Dr. Shuvra Das Divesh Mittal

E-579 - Steer By Wire system Contents Introduction System level modeling Bond graph model SBW control Results and Discussion Limitations and Future work References April 17, 2006 E-579 - Steer By Wire system

Introduction and Significance By wire system is getting popular because of its efficient and accurate operations. There are still few concerns and issues. Idea here is to model simple steer by wire system and see if we can replicate the results from existing hydraulic steering system. This is simple model to understand, idea needs to be extended in order to get more close to real world. April 17, 2006 E-579 - Steer By Wire system

E-579 - Steer By Wire system Problem Definition Understand and prepare system level model of Steer By Wire (SBW) system. Making the suitable assumptions to break down whole system into simple energy storage or dissipating elements. Convert above information into bond graph model and simulate it on 20-SimTM. Plot wheel angle and validate it with similar results from other references. April 17, 2006 E-579 - Steer By Wire system

E-579 - Steer By Wire system [“Embedded Steer-by-Wire System Development”, Embedded World, 17-19 February 2004, Nuremberg, Germany] April 17, 2006 E-579 - Steer By Wire system

Reference: http://www.Howstuffworks.com Steer by Wire Reference: http://www.Howstuffworks.com April 17, 2006 E-579 - Steer By Wire system

E-579 - Steer By Wire system Introduction System level modeling Bond graph model SBW control Results and Discussion Limitations and Future work References April 17, 2006 E-579 - Steer By Wire system

E-579 - Steer By Wire system System Level Model SBW Steering Wheel Subsystem Controller Subsystem Front Wheel Subsystem Steering Wheel Motor Steering Actuator (Motor) Control Unit Reactive torque Control Path Torque Sensor Rack / Pinion Gear Steering Angle Sensor Tie rod Steering Column Tire-Wheel subsystem April 17, 2006 E-579 - Steer By Wire system

E-579 - Steer By Wire system Modeling of SBW SBW system is composed of steering subsystem, controller and tire subsystem. Model subsystems with the help of major components. Each component is a combination of capacitive/inertia/resistor elements and is connected to other components with either a transformer / gyrator elements or series / parallel junction. April 17, 2006 E-579 - Steer By Wire system

E-579 - Steer By Wire system Block Diagram Torque Input Control Unit DC Motor Rack /pinion gear Tire/wheel assembly April 17, 2006 E-579 - Steer By Wire system

E-579 - Steer By Wire system Introduction System level modeling Bond graph model SBW control Results and Discussion Limitations and Future work References April 17, 2006 E-579 - Steer By Wire system

Manual Rack and pinion steering system Steering wheel/ column Rack and pinion / tire assembly April 17, 2006 E-579 - Steer By Wire system

Without feedback/No control Front wheel actuator motor Rack/Pinion, tie rod and tire asembly Steering wheel April 17, 2006 E-579 - Steer By Wire system

E-579 - Steer By Wire system Data[3] April 17, 2006 E-579 - Steer By Wire system

E-579 - Steer By Wire system Front wheel angle April 17, 2006 E-579 - Steer By Wire system

E-579 - Steer By Wire system Validation Result from reference [1] April 17, 2006 E-579 - Steer By Wire system

Front wheel angle Vs steering wheel angle 1.70 400 April 17, 2006 E-579 - Steer By Wire system

E-579 - Steer By Wire system Steering subsystem April 17, 2006 E-579 - Steer By Wire system

E-579 - Steer By Wire system Introduction System level modeling Bond graph model SBW control Results and Discussion Limitations and Future work References April 17, 2006 E-579 - Steer By Wire system

E-579 - Steer By Wire system SBW Controller Steering wheel Motor Controller Front wheel actuator motor controller April 17, 2006 E-579 - Steer By Wire system

E-579 - Steer By Wire system Controller SBW controller [3] April 17, 2006 E-579 - Steer By Wire system

Steering Motor Controller Generates reactive torque. Easy to drive at low speed and vice versa. Reactive torque is function of velocity April 17, 2006 E-579 - Steer By Wire system

Gain factor for Steering control Gain for steering motor actuator [3] April 17, 2006 E-579 - Steer By Wire system

Feed forward control Bicycle model for steering behavior [3] April 17, 2006 E-579 - Steer By Wire system

Steering Torque Controller April 17, 2006 E-579 - Steer By Wire system

Reaction Torque Control April 17, 2006 E-579 - Steer By Wire system

E-579 - Steer By Wire system Introduction System level modeling Bond graph model SBW control Results and Discussion Limitations and Future work References April 17, 2006 E-579 - Steer By Wire system

E-579 - Steer By Wire system Results Steer by wire was modeled using bond graph technology. Controller for SBW improves maneuverability and handling. Reactive torque can be controlled using torque control mechanism. April 17, 2006 E-579 - Steer By Wire system

Proposed Time line VS Achievement Mapping Proposed date Task Status March 13 Topic search Achieved at time March 20 Background research March 27 Understanding the system March 29 Proposal Presentation April 02 Basic bond graph modeling April 04 Decide on modeling complexity of sensors April 09 Modeling of controller Started at time but finished on April 15 April 11 Validation of results April 17 Final presentation April 21 Final report Should be done in time. April 17, 2006 E-579 - Steer By Wire system

E-579 - Steer By Wire system Introduction System level modeling Bond graph model SBW control Results and Discussion Limitations and Future work References April 17, 2006 E-579 - Steer By Wire system

Limitations and Future Work Torque control mapping for steering motor. Front wheel motor voltage control. Importing Matlab file for lookup tables. April 17, 2006 E-579 - Steer By Wire system

E-579 - Steer By Wire system References Srihari Vijaykumar ,”Analysis of an electric power assisted steering system using bond graphs”, SAE paper 2003-01-0586. Srihari Vijaykumar ,” Application of bond graph technique to the design of passenger car steering system”, SAE paper 2002-01-0617. Se-Wook Oh,” The development of an advanced control method for the steer-by-wire system to improve the vehicle maneuverability and stability”, SAE paper 2003-01-0578 April 17, 2006 E-579 - Steer By Wire system

E-579 - Steer By Wire system Questions ?? April 17, 2006 E-579 - Steer By Wire system