divesh_finalpresentation
TRANSCRIPT
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E- 579
Mechatronics Modeling and Simulation
Term Project - Steer By Wire
Instructor
Dr. Shuvra Das
Divesh Mittal
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Contents
Introduction
System level modeling
Bond graph model SBW control
Results and Discussion
Limitations and Future work
References
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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 beextended in order to get more close to real world.
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Problem Definition
Understand and prepare system level model of SteerBy Wire (SBW) system.
Making the suitable assumptions to break down
whole system into simple energy storage ordissipating elements.
Convert above information into bond graph modeland simulate it on 20-SimTM.
Plot wheel angle and validate it with similar resultsfrom other references.
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Steer By Wire System
[Embedded Steer-by-Wire System Development, Embedded World, 17-19 February 2004,
Nuremberg, Germany]
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Introduction
System level modeling
Bond graph model SBW control
Results and Discussion
Limitations and Future work
References
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System Level Model
SBW
Steering WheelSubsystem
ControllerSubsystem
Front WheelSubsystem
Steering WheelMotor
Torque Sensor
Steering AngleSensor
SteeringActuator (Motor)
Rack / PinionGear
Tire-Wheelsubsystem
Steering Column
Tie rod
Control Unit
Reactive torque
Control Path
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Modeling of SBW
SBW system is composed of steering subsystem, controllerand tire subsystem.
Model subsystems with the help of major components.
Each component is a combination of capacitive/inertia/resistorelements and is connected to other components with either atransformer / gyrator elements or series / parallel junction.
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Block Diagram
TorqueInput
ControlUnit
DCMotor
Rack /piniongear
Tire/wheelassembly
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Without feedback/No control
IRIMtrhftInrtiRCFront wheel
actuator motor
Steering wheel
Rack/Pinion, tie rod
and tire asembly
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Front wheel angle
Front Wheel Angle ( Without Feedback)
0 1 2 3 4 5 6 7 8 9 10
time {s}
-30
-20
-10
0
10
20
30
40
50
60
70
steeringwheelangle
frontwheelangle
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SBW Controller
Steering wheel Motor Controller
Front wheel actuator motor controller
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Controller
SBW controller [3]
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Gain factor for Steering control
Gain for steering motor actuator [3]
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Steering Torque Controller
IArmrInnRArmrRin
IotorShaftIneria
otorhaftesistac
trftli
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Results
Steer by wire was modeled using bond graph
technology.
Controller for SBW improves maneuverability
and handling.
Reactive torque can be controlled using torquecontrol mechanism.
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Limitations and Future Work
Torque control mapping for steering motor.
Front wheel motor voltage control.
Importing Matlab file for lookup tables.
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References
1. Srihari Vijaykumar ,Analysis of an electric powerassisted steering system using bond graphs, SAEpaper 2003-01-0586.
2. Srihari Vijaykumar , Application of bond graph
technique to the design of passenger car steeringsystem, SAE paper 2002-01-0617.
3. Se-Wook Oh, The development of an advancedcontrol method for the steer-by-wire system toimprove the vehicle maneuverability and stability,SAE paper 2003-01-0578
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Questions ??