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Title Page 2
Abstract 5
Contents 7
Ⅰ. Introduction 16
1.1. Research Motivation 16
1.1.1. History of Steering System 16
1.1.2. Steer-by-Wire System 17
1.2. Related Works 19
1.3. Problem Statements 24
1.4. Contribution Points of the Thesis 26
1.5. Thesis Outline 26
1.5.1. Chapter Ⅰ: Introduction 26
1.5.2. Chapter Ⅱ: Preliminaries 27
1.5.3. Chapter Ⅲ: Torque Controllable Compact Steering Wheel Module 28
1.5.4. Chapter Ⅳ: Realization of Steer-by-Wire System 28
1.5.5. Chapter Ⅴ: Road-Vehicle Interaction Model Estimation 29
1.5.6. Chapter Ⅵ: Simulation and Experiment 29
1.5.7. Chapter Ⅶ: Conclusion and Open Issues 30
Ⅱ. Preliminaries 31
2.1. Analysis of Steer-by-Wire System 31
2.2. Disturbance Observer(DOB) 33
2.3. Internal Model Compensator(IMC) 35
2.4. Steering Feel Evaluation 37
2.5. Series Elastic Actuator(SEA) 40
Ⅲ. Torque Controllable Compact Steering Wheel Module 42
3.1. Introduction and Problem Statement 42
3.2. Design of Steering Wheel Module 43
3.2.1. Overall Structure of Developed Module 43
3.2.2. Torque Analysis of Harmonic Drive 45
3.2.3. Dynamic Analysis of Steering Wheel Module 47
3.2.4. System Identification of Developed Module 49
3.3. Precise Torque Control of DOB and IMC 52
3.3.1. Disturbance Observer 53
3.3.2. Internal Model Compensator(IMC) 56
3.4. Chapter Summary 58
Ⅳ. Realization Method of Steer-by-Wire System 60
4.1. Introduction and Problem Statement 60
4.2. Steering Feel Evaluation Method 61
4.2.1. Quantitative Index: Steering Feel Function 61
4.3. RSM based Steering Feel Generation 63
4.3.1. Explanation of Block Diagram 63
4.3.2. Steering Feel Function of RSM 63
4.4. BiC-based Steering Feel Generation 65
4.4.1. Explanation of Block Diagram 65
4.4.2. Road Reaction Torque Observer 66
4.4.3. Nominal Model for Road Reaction Torque Observer 67
4.4.4. Steering Feel Function of BiC 68
4.5. Reference Steering Model based Bilateral Control Algorithm 69
4.5.1. Explanation of Block Diagram 70
4.5.2. Steering Feel Function of RSM-BiC 70
4.6. Combination Methods of RSM-BiC 72
4.6.1. Simple Gear Ratio based Method 72
4.6.2. Complementary Filter-based Method 73
4.6.3. RSM and Road Vehicle Interaction Model Method 73
4.7. Chapter Summary 73
Ⅴ. Road-Vehicle Interaction Model 75
5.1. Introduction 75
5.2. Definition of Road Vehicle Interaction Model 75
5.3. Real-time Road Parameter Estimation Method 77
5.3.1. MLR Method 77
5.3.2. RLS Method 79
5.4. Chapter Summary 81
Ⅵ. Simulation and Experiment 82
6.1. Experiment for Steering Wheel Module 82
6.1.1. Experimental Setup 82
6.1.2. Effect of Low Inherent Resistance in Steering Wheel Module 83
6.1.3. Performance Verification of Proposed Module and Control 85
6.1.4. Experimental Verification in HILS 89
6.2. Experiment for Realization of SBW System 91
6.2.1. Specification of SBW Test Vehicle 92
6.2.2. Steering Feel Evaluation 92
6.2.3. Steering Experiment on Constant Road Friction 94
6.2.4. Steering Experiment on Varying Road Condition 96
6.3. Experiment for Road-Vehicle Interaction Model 98
6.3.1. Experimental Setup 98
6.3.2. Experimental Results 99
6.4. Certification of Physical Model of the Road Disturbance 106
6.5. Simulation for Combination Method of RSM-BiC Algorithm 109
6.5.1. Simulation Conditions 109
6.5.2. Simulation Results 110
6.6. Chapter Summary 113
Ⅶ. Conclusions and Open Issues 116
7.1. Conclusion 116
7.2. Open Issues 117
References 119
요약문 132
Figure Ⅰ.1. History of steering system, (a) Hydraulic power steering system, (b) Electric power... 17
Figure Ⅰ.2. Schematic of steering system; (a) Conventional EPS system, (b) SBW system 18
Figure Ⅰ.3. Issues in SBW system 25
Figure Ⅰ.4. Issues in SBW system 27
Figure Ⅱ.1. Steer-by-wire system schematic including the steering wheel and the tire wheel 32
Figure Ⅱ.2. Block diagram of disturbance observer 33
Figure Ⅱ.3. Block diagram of Internal model compensator 36
Figure Ⅱ.4. Example of steering torque vs steering angle for steering feel evaluation 37
Figure Ⅱ.5. Steering torque-angle plot for steering feel qualitative evaluation, (a) damping... 39
Figure Ⅱ.6. Categorization of SEA depending on spring location 41
Figure Ⅲ.1. Proposed driver reaction torque module with the components including (a) Maxon... 44
Figure Ⅲ.2. Schematics of harmonic drive configurations (a) conventional configuration (b)... 46
Figure Ⅲ.3. Frequency response function results (a) motor torque to motor angular velocity θm/тm;...[이미지참조] 51
Figure Ⅲ.4. Block diagram the proposed DOB-based torque control 54
Figure Ⅲ.5. Nominal model Pn and uncertain model P 55
Figure Ⅲ.6. Frequency analysis for uncertain model (a) comparison of p(jω)-pₙ(jω)/pnₙ(jω) and...[이미지참조] 56
Figure Ⅲ.7. Block diagram of internal model compensator with DOB 56
Figure Ⅲ.8. Block diagram the IMC 58
Figure Ⅳ.1. Block diagram of reference steering model control 63
Figure Ⅳ.2. Block diagram of bilateral control with the disturbance observer working as the... 65
Figure Ⅳ.3. Low-friction disc test for system identification 67
Figure Ⅳ.4. Block diagram of RSM-BiC algorithm 70
Figure Ⅴ.1. Concept figure of vehicle speed varying model: (a)stiffness, (b)damping 76
Figure Ⅵ.1. Experimental setup (a) overall configuration (b) module setting 83
Figure Ⅵ.2. Experiments of electrical faults in the conventional steering wheel actuator system... 84
Figure Ⅵ.3. Comparison to steering torque (a) comparison of torque sensor and from spring... 85
Figure Ⅵ.4. Inherent resistance (a) motor based driven steering module, (b) proposed steering module 86
Figure Ⅵ.5. Zero torque control performance (a), (d), (g) PD control, (b), (e), (h) PD control... 87
Figure Ⅵ.6. Torque tracking control performance, (a) Step response, (b) Sine 0.5Hz response,... 88
Figure Ⅵ.7. Closed loop frequency response result 88
Figure Ⅵ.8. Hardware-In-the Loop simulation (a) whole configuration, (b) simulation vehicle trajectory 90
Figure Ⅵ.9. Driver's reaction and Vehicle motion with the conventional steering wheel envi-... 91
Figure Ⅵ.10. Driver's reaction and Vehicle motion with the proposed steering wheel actuator... 91
Figure Ⅵ.11. Configuration of the steer-by-wire test vehicle for the experiment 92
Figure Ⅵ.12. Steering angle and torque curve to illustrate steering feel function 93
Figure Ⅵ.13. Vehicle behaviors during the high-friction road steering test: black solid line:... 94
Figure Ⅵ.14. Experimental steering feel results: (a)reference steering model control, (b)bilateral control,... 95
Figure Ⅵ.15. Road configuration for varying road friction experiment 96
Figure Ⅵ.16. Test vehicle condition during the low-friction road test: black solid line: RSM... 97
Figure Ⅵ.17. Experimental steering feel results in the low-friction road test: black solid line:... 97
Figure Ⅵ.18. Experimental training data set 98
Figure Ⅵ.19. Experimental training data set 99
Figure Ⅵ.20. Vehicle speed varying road environment model 100
Figure Ⅵ.21. Sequential plots of vehicle speed varying road environment model (a) 10-25kph,... 100
Figure Ⅵ.22. Error result of vehicle speed varying road environment model 101
Figure Ⅵ.23. Sequential error plots of vehicle speed varying road environment model (a) 10-... 102
Figure Ⅵ.24. Quantitative results: (a)RMSE result, (b)R-Squared result 103
Figure Ⅵ.25. Multicollinearity result of each variable 104
Figure Ⅵ.26. Online MLR result 105
Figure Ⅵ.27. Effects of forgetting factors in RLS 105
Figure Ⅵ.28. MLR-based RLS results 106
Figure Ⅵ.29. Verification process for CarSim vehicle with real test vehicle 107
Figure Ⅵ.30. CarSim vehicle simulation results with real test vehicle 108
Figure Ⅵ.31. CarSim vehicle simulation results with real test vehicle 110
Figure Ⅵ.32. CarSim vehicle simulation results Method1(Direct BiC feedback) 111
Figure Ⅵ.33. CarSim vehicle simulation results Method2(Complementary filter(RSM+HPF, BiC+LPF)) 112
Figure Ⅵ.34. CarSim vehicle simulation results Method3(Proposed MLR based RLS) 113
Figure Ⅵ.35. CarSim vehicle simulation results in vehicle speed 115
초록보기
본 논문에서는 SBW의 컴팩트 조향휠 개발 그리고 조향감 생성알고리즘에 관한 연구를 제시했다. SBW는 차량시스템에 적용된 최신의 기술로써 조향휠과 타이어휠 사이의 기계적 연결이 끊어진 조향시스템이다. 이러한 특성으로 인해 운전자는 뚜렷한 장단점이 생긴다. 상세한 장단점은 논문의 본문에 설명되고, SBW의 단점을 보완하고 장점을 살리기 위해서 하드웨어와 소프트웨어 관점에서 3가지 문제점을 풀고자 했다
본 연구자는 박사학위동안의 연구를 통해 기존 자동차 회사에서 생산하는 조향시스템의 문제점인 가벼운 기계적 저항문제를 해결하기위한 새로운 타입의 조향휠 모듈을 개발했고, 정밀한 조향토크제어가 가능한 조향모듈임을 실험을 통해 검증했다. 또한 SBW에서 풀어야할 문제들 중 하나인 조향감 생성에 관한 연구를 했다. 운전자의 조향감을 원하는 대로 바꿀수 있는 RSM 방법과 노면의 반력을 운전자에게 전달할 수 있는 BiC방법을 병합하는 새로운 방식의 SBW 구현화 알고리즘을 제안했다. 정성적지표 중 하나인 조향감을 정량적 기준으로 평가하기 위해, 전달함수를 이용해서 정량적 비교를 할 수 있는 "조향감 함수"모델을 제시했다. 이를 이용해 기존방식과 제안하는 SBW 조향감 구현 방식의 차이점을 확인할 수 있었다. 더나아가 도로와 차량간의 상호작용모델을 다중선형회귀모형을 이용해서 정의하는 방법을 소개했다. 이 방법을 통해 차량의 속도에 변화하는 복원력의 강성계수를 찾을 수 있었다. 이는 차량실험과 차량시뮬레이션을 통해 검증되었다.MARC 보기
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