Synchronization Control of Dual Motor Driving Steer by Wire System

Insu Chung; Sunyeop Lee; Kanghyun Nam; Younghoon Seo; Sehoon Oh

doi:10.1109/VPPC60535.2023.10403301

Synchronization Control of Dual Motor Driving Steer by Wire System

Insu Chung
, Sunyeop Lee
, Kanghyun Nam
, Younghoon Seo
, Sehoon Oh

Department of Robotics and Mechatronics Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

The Steer by Wire (SbW) system is a system that replaces the mechanical connection between the steering wheel and the vehicle's wheels with electrical signals to control steering. Dual motor driving SbW is designed with physical redundancy in case the SbW system does not operate normally. The system's mechanism requires synchronization control between the two motors to maintain driver safety in response to external disturbances and changes in driving conditions. This paper presents a position control scheme that utilizes the mean and difference of the two motor angles to directly control tracking performance and synchronization error. To apply the proposed method, the system's dynamics were theoretically analyzed, and a controller was designed based on that analysis. Finally, the proposed control scheme's performance is validated through experiments.

Original language	English
Title of host publication	2023 IEEE Vehicle Power and Propulsion Conference, VPPC 2023 - Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9798350344455
DOIs	https://doi.org/10.1109/VPPC60535.2023.10403301
State	Published - 2023
Event	19th IEEE Vehicle Power and Propulsion Conference, VPPC 2023 - Milan, Italy Duration: 24 Oct 2023 → 27 Oct 2023

Publication series

Name	2023 IEEE Vehicle Power and Propulsion Conference, VPPC 2023 - Proceedings

Conference

Conference	19th IEEE Vehicle Power and Propulsion Conference, VPPC 2023
Country/Territory	Italy
City	Milan
Period	24/10/23 → 27/10/23

Bibliographical note

Publisher Copyright:
© 2023 IEEE.

Keywords

disturbance observer
position control
steer by wire
synchronization control

Access to Document

10.1109/VPPC60535.2023.10403301

Cite this

Chung, I., Lee, S., Nam, K., Seo, Y., & Oh, S. (2023). Synchronization Control of Dual Motor Driving Steer by Wire System. In 2023 IEEE Vehicle Power and Propulsion Conference, VPPC 2023 - Proceedings (2023 IEEE Vehicle Power and Propulsion Conference, VPPC 2023 - Proceedings). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/VPPC60535.2023.10403301

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title = "Synchronization Control of Dual Motor Driving Steer by Wire System",

abstract = "The Steer by Wire (SbW) system is a system that replaces the mechanical connection between the steering wheel and the vehicle's wheels with electrical signals to control steering. Dual motor driving SbW is designed with physical redundancy in case the SbW system does not operate normally. The system's mechanism requires synchronization control between the two motors to maintain driver safety in response to external disturbances and changes in driving conditions. This paper presents a position control scheme that utilizes the mean and difference of the two motor angles to directly control tracking performance and synchronization error. To apply the proposed method, the system's dynamics were theoretically analyzed, and a controller was designed based on that analysis. Finally, the proposed control scheme's performance is validated through experiments.",

keywords = "disturbance observer, position control, steer by wire, synchronization control",

author = "Insu Chung and Sunyeop Lee and Kanghyun Nam and Younghoon Seo and Sehoon Oh",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 19th IEEE Vehicle Power and Propulsion Conference, VPPC 2023 ; Conference date: 24-10-2023 Through 27-10-2023",

year = "2023",

doi = "10.1109/VPPC60535.2023.10403301",

language = "English",

series = "2023 IEEE Vehicle Power and Propulsion Conference, VPPC 2023 - Proceedings",

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booktitle = "2023 IEEE Vehicle Power and Propulsion Conference, VPPC 2023 - Proceedings",

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Chung, I, Lee, S, Nam, K, Seo, Y & Oh, S 2023, Synchronization Control of Dual Motor Driving Steer by Wire System. in 2023 IEEE Vehicle Power and Propulsion Conference, VPPC 2023 - Proceedings. 2023 IEEE Vehicle Power and Propulsion Conference, VPPC 2023 - Proceedings, Institute of Electrical and Electronics Engineers Inc., 19th IEEE Vehicle Power and Propulsion Conference, VPPC 2023, Milan, Italy, 24/10/23. https://doi.org/10.1109/VPPC60535.2023.10403301

Synchronization Control of Dual Motor Driving Steer by Wire System. / Chung, Insu; Lee, Sunyeop; Nam, Kanghyun et al.
2023 IEEE Vehicle Power and Propulsion Conference, VPPC 2023 - Proceedings. Institute of Electrical and Electronics Engineers Inc., 2023. (2023 IEEE Vehicle Power and Propulsion Conference, VPPC 2023 - Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - Synchronization Control of Dual Motor Driving Steer by Wire System

AU - Chung, Insu

AU - Lee, Sunyeop

AU - Nam, Kanghyun

AU - Seo, Younghoon

AU - Oh, Sehoon

PY - 2023

Y1 - 2023

N2 - The Steer by Wire (SbW) system is a system that replaces the mechanical connection between the steering wheel and the vehicle's wheels with electrical signals to control steering. Dual motor driving SbW is designed with physical redundancy in case the SbW system does not operate normally. The system's mechanism requires synchronization control between the two motors to maintain driver safety in response to external disturbances and changes in driving conditions. This paper presents a position control scheme that utilizes the mean and difference of the two motor angles to directly control tracking performance and synchronization error. To apply the proposed method, the system's dynamics were theoretically analyzed, and a controller was designed based on that analysis. Finally, the proposed control scheme's performance is validated through experiments.

AB - The Steer by Wire (SbW) system is a system that replaces the mechanical connection between the steering wheel and the vehicle's wheels with electrical signals to control steering. Dual motor driving SbW is designed with physical redundancy in case the SbW system does not operate normally. The system's mechanism requires synchronization control between the two motors to maintain driver safety in response to external disturbances and changes in driving conditions. This paper presents a position control scheme that utilizes the mean and difference of the two motor angles to directly control tracking performance and synchronization error. To apply the proposed method, the system's dynamics were theoretically analyzed, and a controller was designed based on that analysis. Finally, the proposed control scheme's performance is validated through experiments.

KW - disturbance observer

KW - position control

KW - steer by wire

KW - synchronization control

UR - https://www.scopus.com/pages/publications/85185346297

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DO - 10.1109/VPPC60535.2023.10403301

M3 - Conference contribution

AN - SCOPUS:85185346297

T3 - 2023 IEEE Vehicle Power and Propulsion Conference, VPPC 2023 - Proceedings

BT - 2023 IEEE Vehicle Power and Propulsion Conference, VPPC 2023 - Proceedings

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 19th IEEE Vehicle Power and Propulsion Conference, VPPC 2023

Y2 - 24 October 2023 through 27 October 2023

ER -

Synchronization Control of Dual Motor Driving Steer by Wire System

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