Abstract
AbstractThe Steer-by-Wire (SbW) system is a key technology for highly automated driving. For automated lateral vehicle guidance, the precise position control of the SbW Front Axle Actuator is an essential prerequisite. This contribution presents the modeling, control design, nominal performance, and stability analysis as well as the robustness analysis of the position control for the SbW Front Axle Actuator. Based on a nonlinear model of the plant a simplified linear system model is derived. This model yields the basis for the design of a Two-Degrees of Freedom Linear Quadratic Gaussian Control (2DOF LQG control), which allows an independent design of the command and the disturbance response. Besides an evaluation of the nominal control behavior, μ-analysis is applied to assess the robustness of performance and stability. Finally, real vehicle tests for different driving maneuvers are presented to verify simulation results.
Funder
Technische Universität Dortmund
Publisher
Springer Science and Business Media LLC
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