Optimization of Parameters in the Hysteresis-based Steering Feel Model for Steer-by-Wire Systems

KIRLI A., Arslan M. S.

14th IFAC Symposium on Control in Transportation Systems (CTS), İstanbul, Turkey, 18 - 20 May 2016, vol.49, pp.129-134 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Volume: 49
  • Doi Number: 10.1016/j.ifacol.2016.07.022
  • City: İstanbul
  • Country: Turkey
  • Page Numbers: pp.129-134
  • Yıldız Technical University Affiliated: Yes


In rubber-wheeled vehicles, mechanical comnection between steering wheel and front wheels provides steering related feedback to the driver. The torque fed back to the driver through the steering linkages and steering wheel, which is called steering feel, helps the driver in controlling the vehicle. The torque feedback is reproduced via artificial methods in steer-by wire systems due to tlie lack of mechanical connection. Different approaches have been reported to describe the steering feel for steer-by-wire systems. A recent, study reports a steering feel design based on Roue Boue-Wen-hystersis model. This model describes the steering feel through five constant coefficients, longitudinal velocity and steering wheel angle. In this work, in order to minimize the physical workload and the lateral acceleration under the consideration of handling performance, optimization of those five parameters has been studied. A 2-DOF bicycle model based on Magic tyre formula has been used for simulations. the effect of each parameter on sheering feel has been identified for the optimization study. A driver model With a controller has been designed to perform comparable and repeatable tests. Weave and double lane change tests have been performed in order to demonstrate and quantify the optimization of the hysteresis model. (C) 2016, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved.