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International Journal of Automotive Technology > Volume 21(2); 2020 > Article
International Journal of Automotive Technology 2020;21(2): 419-425.
doi: https://doi.org/10.1007/s12239-020-0039-2
DESIGN OF A ROBUST RACK POSITION CONTROLLER BASED ON 1-DIMENSIONAL AMESIM MODEL OF A STEER-BY-WIRE SYSTEM
Haseo Hwang, Kanghyun Nam
Yeungnam University
PDF Links Corresponding Author.  Kanghyun Nam , Email. khnam@yu.ac.kr
ABSTRACT
This paper presents a robust rack position control method based on a disturbance observer to enhance maneuverability and steering robustness during steering situation. It is shown that the rack and pinion system of Steer-by-Wire system with irregular parameters and external disturbance from the tires and mechanical elements can be modelled as a simple second-order system. In control design, robust control method, e.g., two-degree-of-freedom control (2-DOF) with a disturbance observer, is used for improving the steering robustness. Moreover, A friction compensator is designed to eliminate the friction generated by mechanical gear contact that hinders precise position control. The simulation model of the Steer-by-Wire system is designed with a permanent magnet synchronous motor (PMSM) and mechanical parts using AMESim program. The proposed controller was verified through simulation using AMESim and Matlab/Simulink cosimulation with different references.
Key Words: Rack position control, Steer-by-Wire system, Robust control, Disturbance observer, Friction compensator, AMESim modeling
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