A New Steering System Control Design for Autonomous Passenger Vehicles

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• Publisher: Cuvillier Verlag
• Year: 2024
• eBook ISBN:
  9783736969940
• Print ISBN:
  9783736979949
• Edition: 1

This work investigates the challenge of steering system positional control with a specific view to autonomous driving. Positional control of steering systems has, until now, been under-researched to meet the performance scope of fully autonomous driving. As such, a parallel axis steering gear, found in luxury vehicles, is the target system for this work. The focus of this thesis is a model-based approach to steering control. Moreover, these models are developed using measurement based techniques, thereby determining the main factors reproducing the system behaviour.

Table of contents

• Symbols
• Abstract
• Zusammenfassung
• Acknowledgements
• Chapter 1 Introduction
• 1.1 Role of Electric Power Steering (EPS) in AutonomousDriving
• 1.2 RelatedWorks
• 1.3 Goal of this thesis
• 1.4 Structure of this thesis
• Chapter 2 System Modelling andIdentification
• 2.1 Description of the Electric power steering (EPS)
• 2.2 Identification of the Steering Gear
• 2.3 Identification of the Primary Side
• Chapter 3 System Analysis
• 3.1 Derivation of the Linear Model for Controller Design
• 3.2 Comparison Summary
• 3.3 Properties of Controllability and Observability
• Chapter 4 Controller Synthesis
• 4.1 Defining the control requirements
• 4.2 Frequency domain methods
• 4.3 State Space methods
• 4.4 Combined Frequency and State Space Control Design
• 4.5 Friction Compensation
• 4.6 Chapter Summary
• Chapter 5 Analysis of the Controller Performance
• 5.1 Description of the test signals
• 5.2 Results of the controller performance against the selected signals
• 5.3 Frequency bandwidth measured during the tracking
• 5.4 Summary
• Chapter 6Estimation of the hand Torque
• 6.1 Inverse Model Approach
• 6.2 State Space Observer
• 6.3 Results of the hand torques estimation
• 6.4 Summary
• Chapter 7 Summary and future work
• 7.1 Summary and contributions
• 7.2 Future work
• Appendix A Parameter identification using Least Squares
• A.1 Least Squares Estimation
• Appendix B Explanation of friction models
• B.1 Coulomb Model
• B.2 Stribeck Curve model
• B.3 Masing model
• B.4 Dahl model
• B.5 LuGre Model
• Appendix C Further results for theidentification
• C.1 Further results for the identification of the kinetic frictionunder load
• C.2 Further results for the validation of a loaded steeringgear
• C.3 Further results for the directional dependency of thestatic friction in the primary side
• Appendix D Derivation of the Bicycle Model
• D.1 Derivation of the Bicycle Model
• Appendix E Example of tuning using the root locus results for the System Analysis
• Bibliography