랙이송형steer-by-wire 시스템 제어기 설계

Abstract

The Rack-Moving SBW system is separated two parts. One is steering motor control part which uses feedback steering torque from front wheel motor to transfer steering feeling and information of the road to the driver. Another is front wheel motor control part which uses position feedback control to accurate steering and to improve maneuverability and stability. In this study, the steering wheel motor and the front wheel motor are modeled and controlled. Finally, the discrete controller is developed for the proper steering control and the validity was verified by full car simulation.