東華大學圖書館 |

Steering Control for Haptic Feedback and Active Safety Functions.

紀錄類型:	書目-電子資源 : Monograph/item
正題名/作者:	Steering Control for Haptic Feedback and Active Safety Functions./
作者:	Chugh, Tushar.
面頁冊數:	1 online resource (134 pages)
附註:	Source: Dissertations Abstracts International, Volume: 83-07, Section: B.
Contained By:	Dissertations Abstracts International83-07B.
標題:	Surgery. -
電子資源:	http://pqdd.sinica.edu.tw/twdaoapp/servlet/advanced?query=28928935click for full text (PQDT)
ISBN:	9798762121200

Steering Control for Haptic Feedback and Active Safety Functions.
Chugh, Tushar.

Steering Control for Haptic Feedback and Active Safety Functions. - 1 online resource (134 pages)

Source: Dissertations Abstracts International, Volume: 83-07, Section: B.

Thesis (Ph.D.)--Chalmers Tekniska Hogskola (Sweden), 2021.

Includes bibliographical references

Steering feedback is an important element that defines driver-vehicle interaction. It strongly affects driving performance and is primarily dependent on the steering actuator's control strategy. Typically, the control method is open loop, that is without any reference tracking; and its drawbacks are hardware dependent steering feedback response and attenuated driver-environment transparency. This thesis investigates a closed-loop control method for electric power assisted steering and steer-by-wire systems. The advantages of this method, compared to open loop, are better hardware impedance compensation, system independent response, explicit transparency control and direct interface to active safety functions.The closed-loop architecture, outlined in this thesis, includes a reference model, a feedback controller and a disturbance observer. The feedback controller forms the inner loop and it ensures: reference tracking, hardware impedance compensation and robustness against the coupling uncertainties. Two different causalities are studied: torque and position control. The two are objectively compared from the perspective of (uncoupled and coupled) stability, tracking performance, robustness, and transparency.The reference model forms the outer loop and defines a torque or position reference variable, depending on the causality. Different haptic feedback functions are implemented to control the following parameters: inertia, damping, Coulomb friction and transparency. Transparency control in this application is particularly novel, which is sequentially achieved. For non-transparent steering feedback, an environment model is developed such that the reference variable is a function of virtual dynamics. Consequently, the driver-steering interaction is independent from the actual environment. Whereas, for the driver-environment transparency, the environment interaction is estimated using an observer; and then the estimated signal is fed back to the reference model. Furthermore, an optimization-based transparency algorithm is proposed. This renders the closed-loop system transparent in case of environmental uncertainty, even if the initial condition is non-transparent.The steering related active safety functions can be directly realized using the closed-loop steering feedback controller. This implies, but is not limited to, an angle overlay from the vehicle motion control functions and a torque overlay from the haptic support functions.Experimental results and theoretical findings presented in the thesis are corroborated, including the real-time implementation of torque and position control strategies. In general, it can be concluded that position control lacks performance and robustness due to high and/or varying system inertia. Although the problem is somewhat mitigated by a robust H∞ position controller, the high frequency haptic performance remains compromised. Whereas, the required objectives are simultaneously achieved using a torque controller.

Electronic reproduction.
Ann Arbor, Mich. :
ProQuest,
2023

Mode of access: World Wide Web

ISBN: 9798762121200Subjects--Topical Terms:

707153
Surgery.
Index Terms--Genre/Form:

542853
Electronic books.

Steering Control for Haptic Feedback and Active Safety Functions.
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500 $a Source: Dissertations Abstracts International, Volume: 83-07, Section: B.
500 $a Advisor: Bruzelius, Fredrik.
502 $a Thesis (Ph.D.)--Chalmers Tekniska Hogskola (Sweden), 2021.
504 $a Includes bibliographical references
520 $a Steering feedback is an important element that defines driver-vehicle interaction. It strongly affects driving performance and is primarily dependent on the steering actuator's control strategy. Typically, the control method is open loop, that is without any reference tracking; and its drawbacks are hardware dependent steering feedback response and attenuated driver-environment transparency. This thesis investigates a closed-loop control method for electric power assisted steering and steer-by-wire systems. The advantages of this method, compared to open loop, are better hardware impedance compensation, system independent response, explicit transparency control and direct interface to active safety functions.The closed-loop architecture, outlined in this thesis, includes a reference model, a feedback controller and a disturbance observer. The feedback controller forms the inner loop and it ensures: reference tracking, hardware impedance compensation and robustness against the coupling uncertainties. Two different causalities are studied: torque and position control. The two are objectively compared from the perspective of (uncoupled and coupled) stability, tracking performance, robustness, and transparency.The reference model forms the outer loop and defines a torque or position reference variable, depending on the causality. Different haptic feedback functions are implemented to control the following parameters: inertia, damping, Coulomb friction and transparency. Transparency control in this application is particularly novel, which is sequentially achieved. For non-transparent steering feedback, an environment model is developed such that the reference variable is a function of virtual dynamics. Consequently, the driver-steering interaction is independent from the actual environment. Whereas, for the driver-environment transparency, the environment interaction is estimated using an observer; and then the estimated signal is fed back to the reference model. Furthermore, an optimization-based transparency algorithm is proposed. This renders the closed-loop system transparent in case of environmental uncertainty, even if the initial condition is non-transparent.The steering related active safety functions can be directly realized using the closed-loop steering feedback controller. This implies, but is not limited to, an angle overlay from the vehicle motion control functions and a torque overlay from the haptic support functions.Experimental results and theoretical findings presented in the thesis are corroborated, including the real-time implementation of torque and position control strategies. In general, it can be concluded that position control lacks performance and robustness due to high and/or varying system inertia. Although the problem is somewhat mitigated by a robust H∞ position controller, the high frequency haptic performance remains compromised. Whereas, the required objectives are simultaneously achieved using a torque controller.
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