Tie rod 구동형 Steer-By-Wire 시스템의 제어 알고리즘 개발

Abstract

Steer-by-Wire (SBW) system consist of steering wheel system and front wheel system. The reactive torque control algorithm of steering wheel system was designed in this paper. To verify the control algorithm, the SBW system is modeled using the bond graph method. Aim of the control algorithm is controlling the steering wheel motor to express reactive torque from roads. The control algorithm of the steering wheel system used the torque map to reactive torque control. Using the filter, the current of the front wheel system enter the steering wheel system. Front wheel system has two motor, independent actuating. In developing the tie-rod actuating SBW, the Ackerman Geometry was used for improving the vehicle stability. Verification simulation and performance simulation show that the SBW controller was available in this study.