Control of Steering-by-Wire System of Electric Vehicle using Bilateral Control Designed by Passivity Approach

概要

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Steer-by-Wire (SBW) system has a mechanical feature that the conventional mechanical linkages between the steering wheel and the front wheel are removed, and is operated by electric actuators. SBW system suits for active steering control improving vehicle stability, dynamics and maneuverability and so on. With conventional controller for SBW system, it is difficult for driver to feel reaction torque exactly from steering block. In this paper, a new SBW system of electric vehicle based on bilateral control designed by passivity approach is proposed. At first, conventional bilateral control scheme using disturbance observer is reexamined. Secondly, a novel bilateral control with passivity is introduced. We also make clear the performance of the proposed control scheme and compare it with conventional bilateral control scheme. Finally, the effectiveness of the proposed method is demonstrated by experiments with the electric vehicle.