Design of road feel feedback algorithm for steer-by- Wire

Abstract

With the development of electric power steering becoming more and more mature, many companies and universities have begun to develop steer-by-wire systems. In the online steering system, the steering wheel end is disconnected from the steering rack, and the road feel simulation unit is required to provide the driver with a realtime road feel to ensure the driver's maneuverability of the vehicle. There are many challenges in the generation of analog road feel. The basic functions include central position road feel, active return function, low-speed lightness and high-speed stability. The first part of this article discusses the control method of the road sense feedback motor, the second part is the design of the road sense feedback algorithm, and the third part is the test results and analysis. The motor control algorithm uses PID and feedforward algorithms to achieve precise current control. The road sense feedback part is designed to change the steering force gradient and damping with the speed of the vehicle. It is verified by Carsim and Matlab/Simulink joint simulation. The test part verifies the road sense algorithm. Adapt to different vehicle speeds and working conditions, and the smoothness of the center position and feel meets the needs of road feedback.