Steer-by-Wire (sbw) systems gain new importance with regard to autonomous driving since a permanently rotating steering wheel is undesired in such a vehicle. In addition, redundancies in the vehicle steering system must be provided for autonomous vehicles, which have been seen as an obstacle for sbw-systems until now. In this article, a control concept for redundantly actuated sbw-systems is presented. For this purpose, the mechanical model of a redundantly actuated sbw is described, in which the actuators of the steering are elastically connected to each other. Also a linear model of a conventional hydraulic power steering (hps) is derived as reference model, to describe the desired dynamic behavior of the controlled system. A dynamic model-matching controller based on norm minimization is designed to match the dynamics of the sbw-system to the dynamics of the hps-model. Finally, the characteristics of the controlled system are analysed. The controlled system matches the reference system in the relevant frequency range and shows the desired behavior on the test bed.


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    Titel :

    Model-Matching-Control of a Redundantly Actuated Steer-by-Wire-System


    Beteiligte:


    Erscheinungsdatum :

    2020-08-01


    Format / Umfang :

    545690 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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