Design of haptic feedback control for Steer-by-Wire
Tushar Chugh (Chalmers University of Technology)
Fredrik Bruzelius (Chalmers University of Technology)
Matthijs Klomp (Chalmers University of Technology)
Barys Shyrokau (TU Delft - Intelligent Vehicles)
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Abstract
This paper illustrates a comparison of different haptic feedback control strategies; primarily focusing on open and closed-loop methods for a Force-Feedback Steer-by-Wire system. Due to shortcomings caused by the feedback motor impedance in the open loop architecture, the tracking performance is deteriorated. Consequently it is shown that the closed-loop solutions provide an improved response within the desired steering excitation range. The closed-loop possibilities, torque and position control, are designed and objectively compared in terms of performance and stability. The controller objectives are inertia compensation and reference tracking. For a given reference, the stability constraint between the controller gains responsible for the two objectives is contrasting in both the methods. Higher bandwidth is achieved for torque controller, whereas the driver arm inertia limits the position control performance. The linear system analysis is supported by the experimental results.