A New Steering System Control Design for Autonomous Passenger Vehicles
eBook - PDF

A New Steering System Control Design for Autonomous Passenger Vehicles

,
  1. 228 pages
  2. English
  3. PDF
  4. Available on iOS & Android
eBook - PDF

A New Steering System Control Design for Autonomous Passenger Vehicles

,

About this book

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.

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Information

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

Table of contents

  1. Symbols
  2. Abstract
  3. Zusammenfassung
  4. Acknowledgements
  5. Chapter 1 Introduction
  6. 1.1 Role of Electric Power Steering (EPS) in AutonomousDriving
  7. 1.2 RelatedWorks
  8. 1.3 Goal of this thesis
  9. 1.4 Structure of this thesis
  10. Chapter 2 System Modelling andIdentification
  11. 2.1 Description of the Electric power steering (EPS)
  12. 2.2 Identification of the Steering Gear
  13. 2.3 Identification of the Primary Side
  14. Chapter 3 System Analysis
  15. 3.1 Derivation of the Linear Model for Controller Design
  16. 3.2 Comparison Summary
  17. 3.3 Properties of Controllability and Observability
  18. Chapter 4 Controller Synthesis
  19. 4.1 Defining the control requirements
  20. 4.2 Frequency domain methods
  21. 4.3 State Space methods
  22. 4.4 Combined Frequency and State Space Control Design
  23. 4.5 Friction Compensation
  24. 4.6 Chapter Summary
  25. Chapter 5 Analysis of the Controller Performance
  26. 5.1 Description of the test signals
  27. 5.2 Results of the controller performance against the selected signals
  28. 5.3 Frequency bandwidth measured during the tracking
  29. 5.4 Summary
  30. Chapter 6Estimation of the hand Torque
  31. 6.1 Inverse Model Approach
  32. 6.2 State Space Observer
  33. 6.3 Results of the hand torques estimation
  34. 6.4 Summary
  35. Chapter 7 Summary and future work
  36. 7.1 Summary and contributions
  37. 7.2 Future work
  38. Appendix A Parameter identification using Least Squares
  39. A.1 Least Squares Estimation
  40. Appendix B Explanation of friction models
  41. B.1 Coulomb Model
  42. B.2 Stribeck Curve model
  43. B.3 Masing model
  44. B.4 Dahl model
  45. B.5 LuGre Model
  46. Appendix C Further results for theidentification
  47. C.1 Further results for the identification of the kinetic frictionunder load
  48. C.2 Further results for the validation of a loaded steeringgear
  49. C.3 Further results for the directional dependency of thestatic friction in the primary side
  50. Appendix D Derivation of the Bicycle Model
  51. D.1 Derivation of the Bicycle Model
  52. Appendix E Example of tuning using the root locus results for the System Analysis
  53. Bibliography