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Steering System Modelling for Heavy Duty Vehicles
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, Faculty of Science & Engineering.
2015 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Future heavy duty vehicles will be designed and manufactured with improved Advanced Driver Assistance Systems, ADAS. When developing ADAS, an accurate model of the vehicle dynamics greatly simplifies the development process. One element integral to the vehicle lateral dynamics and development of ADAS is the steering system.

This thesis aims to develop an accurate model of a heavy duty vehicle steering system suitable for simulations. The input to the system is an input torque at the steering wheel and the output is the wheel angle.

Physical models of the system components are developed using bond graphs and known relations. Some components are modelled with non-linear inefficiencies and friction of different complexity. Unknown parameters and functions are identified from measurement data using system identification tools such as, for example, linear regression and non-linear grid search. The different subsystems are identified separately to the extent deemed possible.

Different model designs are considered, validated, and compared. The advantages and disadvantages of different model choices are discussed. Finally, a non-linear state space model is selected for its high accuracy and efficiency. As this final model can be used to simulate a heavy duty vehicle steering system on a desktop computer faster than real time, it fulfills its purpose.

Place, publisher, year, edition, pages
2015. , 96 p.
Keyword [en]
Advanced Driver Assistance System, Steering System, Lane Keep Assist, Power Steering Gear, Physical Modelling, Hydraulic Power Assist, Bond Graph
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-119770ISRN: LiTH-ISY-EX--15/4852--SEOAI: oai:DiVA.org:liu-119770DiVA: diva2:826878
External cooperation
Scania
Subject / course
Automatic Control
Supervisors
Examiners
Available from: 2015-06-26 Created: 2015-06-26 Last updated: 2015-06-26Bibliographically approved

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf