Lemmer Modeling and Control of a Class of MultiVariable Mechatronic Systems with Kinematic Constraints (original) (raw)

Definition of a methodology to adapt a model of steering assistance and its experimental validation

2013

This document is a preliminary version of the working report concerning the work packages 5.3 and 5.4 of the project VolHand 09 VTT 14, that are in charge to the Gipsa-Lab. In this working report, authors introduce the general architecture used to simulate the Electronic Power Steering (EPS) system. In this rst part, the models, the controller and the observer used for the simulation are introduced. Then, the methodology used to adapt the model to a driver with reduced mobility is described in detail. Finally, the experimental validation of this general architecture is proposed. Section 2 refers to the work-package Gipsa-Comp. Section 3 concerns the work-package Gipsa-Obs. Section 4 is dedicated to the work-package Gipsa-Booster. The work-package Gipsa-Tune is under development.

Project on Electronic Steering Sysytem

SMART MOVES JOURNAL IJOSCIENCE, 2018

As the four-wheel steering (4WS) system has great potentials, many researchers' attention was attracted to this technique and active research was made. As a result, passenger cars equipped with 4WS systems were put on the market a few years ago. This report tries to identify the essential elements of the 4WS technology in terms of vehicle dynamics and control techniques. Based on the findings of this investigation, the report gives a mechanism of electronically controlling the steering system depending on the variable pressure applied on it. This enhances the controlling and smoothens the operation of steering mechanism.

Electric Power Assisted Steering

2013

Electric Power-Assisted Steering (Epas) Is A New Power Steering Technology That Will Define The Future Of Vehicle Steering. The Assist Of Epas Is The Function Of The Steering Wheel Torque And Vehicle Velocity. The Assist Characteristic Of Epas Is Set By Control Software, Which Is One Of The Key Issues Of Epas. The Straight-Line Type Assist Characteristic Has Been Used In Some Current Epas Products, But Its Influence On The Steering Maneuverability And Road Feel Hasn't Been Explicitly Studied In Theory. In This Paper, The Straight-Line Type Assist Characteristic Is Analyzed Theoretically. Then A Whole Vehicle Dynamic Model Used To Study The Straight-Line Type Assist Characteristic Is Built With Adams/Car And Validated With Dcf (Driver Control Files) Mode Of Adams/Car. Based On The Whole Vehicle Dynamic Model, The Straight-Line Type Assist Characteristic's Influence On The Steering Maneuverability And Road Feel Is Investigated. Based On The Driver's Request For The Ideal R...

Control of an Electronic Power Steering system for people with reduced mobility

2013

This work falls within the general context of the new generation of electric power assisted steering ( EPAS) , which aims to take into account characteristics of the drivers disabled . Nowdays, there is no power steering systems adapted to reduced capabilities of muscle joint or adapted to the pain felt by the driver, which is a failure from when we are interested in such populations. The main objective of this thesis is to propose a general methodology to adapt a standard EPAS to drivers disabled . The proposed methodology has been validated on a platform Hardware In the Loop and the experimental results clearly show the interest of the proposed approach . They also represent a starting point for the implementation of the proposed aid on a real vehicle and lay the groundwork for the application of the methodology to a large class of patients affected by different pathologies.