Skip to main content
Top
Published in:

21-02-2024 | Chassis, Electrical and Electronics, Vehicle Dynamics and Control

Comparison of Various Angle-Tracking Algorithms to Balance Performance and Noise for a Steering-by-Wire System

Authors: He Liu, Yahui Liu, Jingyuan Li, Xuewu Ji

Published in: International Journal of Automotive Technology | Issue 3/2024

Log in

Activate our intelligent search to find suitable subject content or patents.

search-config
loading …

Abstract

This paper compares various angle-tracking algorithms to balance the performance and noise for a steering-by-wire (SBW) system. Direct and quiet steering experiences can improve drivers’ acceptance of the SBW system. Linear quadratic regulator (LQR) control, robust control, and conventional cascade proportional–integral (PI) control have been developed and compared both theoretically and experimentally. To avoid the risky and time-consuming parameter-tuning process, a high-fidelity steering resistance model, which comprises a linear two-degree-of-freedom vehicle model and a dynamic LuGre friction model is established. Step and sine wave tests are simulated in a Matlab/Simulink environment to determine the reasonable parameter region for various methods. Then, the three types of algorithms are implemented on a prototype SBW vehicle and compared under the same scenarios. Finally, the simulated and experimental results are illustrated in detail. According to the indicators of control bandwidths, steady-state errors, cockpit sounds, and current waveforms, it is clear that LQR and robust control can achieve faster response and more acceptable noise, with uncertain and relatively larger tracking errors. Cascade PI control, in comparison, can realize smaller steady-state errors and gentler current waveforms, with slight noise and slower response.

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

ATZelectronics worldwide

ATZlectronics worldwide is up-to-speed on new trends and developments in automotive electronics on a scientific level with a high depth of information. 

Order your 30-days-trial for free and without any commitment.

Show more products
Literature
go back to reference Balachandran, A., & Gerdes, J. C. (2015). Designing steering feel for steer-by-wire vehicles using objective measures. IEEE/ASNE Transactions on Mechatronics, 20(1), 373–383.CrossRef Balachandran, A., & Gerdes, J. C. (2015). Designing steering feel for steer-by-wire vehicles using objective measures. IEEE/ASNE Transactions on Mechatronics, 20(1), 373–383.CrossRef
go back to reference Dumlu, A., & Erenturk, K. (2014). Trajectory tracking control for a 3-DOF parallel manipulator using fractional-order PIλDμ control. IEEE Transactions on Industrial Electronics, 61(7), 3417–3426.CrossRef Dumlu, A., & Erenturk, K. (2014). Trajectory tracking control for a 3-DOF parallel manipulator using fractional-order PIλDμ control. IEEE Transactions on Industrial Electronics, 61(7), 3417–3426.CrossRef
go back to reference He, L., Li, F., Guo, C., Gao, B., Lu, J., & Shi, Q. (2022). An adaptive PI controller by particle swarm optimization for angle tracking of steer-by-wire. IEEE/ASNE Transactions on Mechatronics, 27(5), 3830–3840.CrossRef He, L., Li, F., Guo, C., Gao, B., Lu, J., & Shi, Q. (2022). An adaptive PI controller by particle swarm optimization for angle tracking of steer-by-wire. IEEE/ASNE Transactions on Mechatronics, 27(5), 3830–3840.CrossRef
go back to reference Huang, C., Li, L., & Wang, X. (2020a). Comparative study of two types of control loops aiming at trajectory tracking of a steer-by-wire system with Coulomb friction. Proceedings of the Institution of Mechanical Engineers, Part D: J Automobile Engineering, 235(1), 16–31. Huang, C., Li, L., & Wang, X. (2020a). Comparative study of two types of control loops aiming at trajectory tracking of a steer-by-wire system with Coulomb friction. Proceedings of the Institution of Mechanical Engineers, Part D: J Automobile Engineering, 235(1), 16–31.
go back to reference Huang, C., Naghdy, F., & Du, H. (2020b). Delta operator-based model predictive control with fault Compensation for steer-by-wire systems. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 50(6), 2257–2272.CrossRef Huang, C., Naghdy, F., & Du, H. (2020b). Delta operator-based model predictive control with fault Compensation for steer-by-wire systems. IEEE Transactions on Systems, Man, and Cybernetics: Systems, 50(6), 2257–2272.CrossRef
go back to reference Hwang, H., & Nam, K. (2019). Design of a robust rack position controller based on 1-dimensional amesim model of a steer-by-wire system. International Journal of Automotive Technology, 21(2), 419–425.CrossRef Hwang, H., & Nam, K. (2019). Design of a robust rack position controller based on 1-dimensional amesim model of a steer-by-wire system. International Journal of Automotive Technology, 21(2), 419–425.CrossRef
go back to reference Kim, H. W., & Sul, S. K. (1996). A new motor speed estimator using Kalman Filter in low-speed range. IEEE Transactions on Industrial Electronics, 43(4), 498–504.CrossRef Kim, H. W., & Sul, S. K. (1996). A new motor speed estimator using Kalman Filter in low-speed range. IEEE Transactions on Industrial Electronics, 43(4), 498–504.CrossRef
go back to reference Lewis, F. L., Vrabie, D., & Syrmos, V. L. (2012). Optimal Control (3rd ed.). Wiley.CrossRef Lewis, F. L., Vrabie, D., & Syrmos, V. L. (2012). Optimal Control (3rd ed.). Wiley.CrossRef
go back to reference Panagiotis, T., Efstathios, V., & Michel, S. (2004). A LuGre tire friction model with exact aggregate dynamics. Vehicle System Dynamics, 42(3), 195–210.CrossRef Panagiotis, T., Efstathios, V., & Michel, S. (2004). A LuGre tire friction model with exact aggregate dynamics. Vehicle System Dynamics, 42(3), 195–210.CrossRef
go back to reference Philippe, F. (2013). Loop-Shaping Robust Control (3rd ed.). John Wiley & Sons. Philippe, F. (2013). Loop-Shaping Robust Control (3rd ed.). John Wiley & Sons.
go back to reference Utkin, V. (2016). Discussion aspects of high-order sliding mode control. IEEE Transactions on Automatic Control, 61(3), 1596–1611.MathSciNetCrossRef Utkin, V. (2016). Discussion aspects of high-order sliding mode control. IEEE Transactions on Automatic Control, 61(3), 1596–1611.MathSciNetCrossRef
go back to reference Wang, H., Kong, H., Man, Z., Tuan, D. M., Cao, Z., & Shen, W. (2014). Sliding mode control for steer-by-wire systems with ac motors in road vehicles. IEEE Transactions on Industrial Electronics, 61(3), 829–833.CrossRef Wang, H., Kong, H., Man, Z., Tuan, D. M., Cao, Z., & Shen, W. (2014). Sliding mode control for steer-by-wire systems with ac motors in road vehicles. IEEE Transactions on Industrial Electronics, 61(3), 829–833.CrossRef
go back to reference Wang, Y., Liu, Y., & Wang, Y. (2023). Adaptive discrete-time NN controller design for automobile steer-by-wire systems with angular velocity observer. Proceedings of the Institution of Mechanical Engineers, Part D: J Automobile Engineering, 237(4), 722–736. Wang, Y., Liu, Y., & Wang, Y. (2023). Adaptive discrete-time NN controller design for automobile steer-by-wire systems with angular velocity observer. Proceedings of the Institution of Mechanical Engineers, Part D: J Automobile Engineering, 237(4), 722–736.
go back to reference Wu, X., Zhang, M., & Xu, M. (2019). Active tracking control for steer-by-wire system with disturbance observer. IEEE Transactions on Vehicular Technology, 68(6), 5483–5493.CrossRef Wu, X., Zhang, M., & Xu, M. (2019). Active tracking control for steer-by-wire system with disturbance observer. IEEE Transactions on Vehicular Technology, 68(6), 5483–5493.CrossRef
go back to reference Wu, X., Zhang, M., Xu, M., & Kakogawa, Y. (2018). Adaptive feedforward control of a steer-by-wire system by online parameter estimator. International Journal of Automotive Technology, 19(1), 159–166.CrossRef Wu, X., Zhang, M., Xu, M., & Kakogawa, Y. (2018). Adaptive feedforward control of a steer-by-wire system by online parameter estimator. International Journal of Automotive Technology, 19(1), 159–166.CrossRef
Metadata
Title
Comparison of Various Angle-Tracking Algorithms to Balance Performance and Noise for a Steering-by-Wire System
Authors
He Liu
Yahui Liu
Jingyuan Li
Xuewu Ji
Publication date
21-02-2024
Publisher
The Korean Society of Automotive Engineers
Published in
International Journal of Automotive Technology / Issue 3/2024
Print ISSN: 1229-9138
Electronic ISSN: 1976-3832
DOI
https://doi.org/10.1007/s12239-024-00038-2

Other articles of this Issue 3/2024

Optimization of Dynamic Performance of a Solenoid Actuator in a CNG Injector Based on the Effects of Key Design Parameters

  • Engine and Emissions, Fuels and Lubricants, Heat Transfer, Fluid and Thermal Engineering

Combined Steering and Braking Collision Avoidance Control Method Based on Model Predictive Control

  • Connected Automated Vehicles and ITS, Electric, Fuel Cell, and Hybrid Vehicle, Vehicle Dynamics and Control

Smart Control of DCT Proportional Solenoid Valve Based on Data Mining

  • Vehicle Dynamics and Control, Other Fields of Automotive Engineering

NMPC Design for Local Planning of Automated Vehicle with Less Computational Consumption

  • Connected Automated Vehicles and ITS, Vehicle Dynamics and Control

Traffic Flow Forecasting Based on Transformer with Diffusion Graph Attention Network

  • Electrical and Electronics, Vision and Sensors, Other Fields of Automotive Engineering

Development of an Algorithm for Predicting the Heat Resistance Temperature of Automotive Lamps

  • Electric, Fuel Cell, and Hybrid Vehicle, Fuels and Lubricants, Heat Transfer, Fluid and Thermal Engineering, Vision and Sensors