| 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 |
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| ABSTRACT |
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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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Corresponding Author.
Kanghyun Nam , Email. 
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