네트워크 기반 steer-by wire 시스템을 위한 지능형 엑츄에이터 제어
Control of smart actuators for networked steer-by-wire system
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Abstract
This paper presents a control algorithm for smart actuators that can be used in a steer-by-wire system for next-generation intelligent automobiles. Steer-by-wire is a network-based mechatronic steering system in which mechanical linkages and hydraulics are replaced by electric motors and a digital communication network. The algorithm is designed not only to achieve the capabilities of following the desired steering angles while minimizing the discrepancy between two steering wheels, but also to tolerate an actuator with faults. The proposed algorithm is based on a simple proportional control so that it can be implemented in real-time with a low-cost embedded microcontroller. The effectiveness of the control algorithm is examined using a hardware-in-the-loop simulator consisting of two DC motors and a CAN bus network.
참고문헌 (18)
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