0
Research Papers

Cancellation of Unnatural Reaction Torque in Variable-Gear-Ratio

[+] Author and Article Information
Sumio Sugita

 Mechatronics Development Center, NSK Ltd, Fujisawa, Kanagawa 251-8501, Japan

Masayoshi Tomizuka

 Department of Mechanical Engineering, University of California, Berkeley, Berkeley, CA 94720,

J. Dyn. Sys., Meas., Control 134(2), 021019 (Jan 12, 2012) (10 pages) doi:10.1115/1.4004577 History: Received June 16, 2010; Revised March 06, 2011; Accepted April 13, 2011; Published January 12, 2012; Online January 12, 2012

Variable-gear-ratio steering, also known as active steering, is an advanced steering technology which enhances the driver’s comfort and vehicle operability. However, one big problem, namely the unnatural reaction torque created by the variable actuator, restricts the further practical-use of the variable-gear-ratio steering. This paper proposes a control method to cancel the unnatural torque using a simple concept called friction relocation. Effectiveness of the method is experimentally confirmed using a hardware-in-the-loop simulator.

Copyright © 2012 by American Society of Mechanical Engineers
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 1

Variable-gear-ratio steering

Grahic Jump Location
Figure 2

Variable actuator in experimental setup

Grahic Jump Location
Figure 3

Hardware-in-the-loop simulator

Grahic Jump Location
Figure 4

Variable-gear-ratio steering system model

Grahic Jump Location
Figure 5

Measurement of human-arm-model

Grahic Jump Location
Figure 6

Sinusoidal steering with constant gear-ratio

Grahic Jump Location
Figure 7

Sinusoidal steering with time-varying gear-ratio

Grahic Jump Location
Figure 8

Static nonlinear mapping control

Grahic Jump Location
Figure 9

Comparison with dynamic compensator on steering-hold and time-varying gear-ratio. (a) without dynamic compensator (b) with dynamic compensator.

Grahic Jump Location
Figure 10

Friction + dynamic compensation

Grahic Jump Location
Figure 11

Sinusoidal steer with friction compensation

Grahic Jump Location
Figure 12

Friction compensation without dynamic compensator

Grahic Jump Location
Figure 13

Friction relocation concept

Grahic Jump Location
Figure 14

Resultant system with virtual steering speed

Grahic Jump Location
Figure 15

Desired fictitious-friction torque

Grahic Jump Location
Figure 16

Frequency response of GTV

Grahic Jump Location
Figure 17

Series representation of GTV

Grahic Jump Location
Figure 18

Fictitious-friction controller

Grahic Jump Location
Figure 19

Waveform of proposed friction controller

Grahic Jump Location
Figure 20

Friction controller performance

Grahic Jump Location
Figure 21

EPS assist controllers CT and CV

Grahic Jump Location
Figure 22

Nyquist plot of torque-boost controller CT

Grahic Jump Location
Figure 23

Overall control structure

Grahic Jump Location
Figure 24

Friction-relocation control on steering hold with varying gear ratio

Grahic Jump Location
Figure 25

Sinusoidal steering on friction relocation

Grahic Jump Location
Figure 26

Speed dependant gear ratio

Grahic Jump Location
Figure 27

Base data of constant circling

Grahic Jump Location
Figure 28

Circle tracking without proposed controller

Grahic Jump Location
Figure 29

Circle tracking with proposed controller

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In