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• W2254776906 abstract "Many automobile manufacturers are switching toElectric Power Steering (EPS) systems for their better performanceand cost advantages over traditional Hydraulic Power Steering (HPS)systems. EPS compared to HPS offer lower energy consumption, lowertotal weight, and package flexibility at no cost penalty.Furthermore, since EPS systems can provide assistance to driversindependent of the vehicle driving conditions, new technologies canbe implemented to improve the steering feel and safety,simultaneously. In this thesis, a neuromusculoskeletal driverand a high-fidelity vehicle model are developed in MapleSim toprovide realistic simulations to study the driver-vehicleinteractions and EPS systems. The vehicle model consists ofMacPherson and multilink suspensions at front and rear equippedwith a column-type EPS system. The driver model is a fullyneuromusculoskeletal model of a driver arm holding the steeringwheel, controlled by the driver's central nervous system. Ahierarchical approach is used to capture the complexity of theneuromuscular dynamics and the central nervous system in thecoordination of the driver's upper extremity activities. Theproposed motor control framework has three layers: the first layer,or the path-planning layer, plans a desired vehicle trajectory andthe required steering angles to perform the desired trajectory, thesecond layer (or the force distribution controller) actuates themusculoskeletal arm, and the final layer is added to ensure theprecision control and disturbance rejection of the motor controlunits. The overall goal of this thesis is to studyvehicle-driver interactions and to design a model-based EPScontroller that considers the driver's characteristics. To designsuch an EPS controller, the high-fidelity driver-vehicle model issimplified to reduce the computational burden associated with themultibody and biomechanical systems. Then, four driver types areintroduced based on the physical characteristics of drivers such asage and gender, and the corresponding parameters are incorporatedin the model. Last but not least, a new model-based EPS controlleris developed to provide appropriate assistance to each of thepredefined driver types. To do this, the characteristic curves aretuned using a systematic optimization procedure to provideappropriate assistance to drivers with different physical strength,in order to have a similar road and steering feel. In this thesis,it is recommended that muscle fatigue be used as a measure ofsteering feel. Then, based on the tuned EPS characteristic curves,an observer-based optimal disturbance rejection controller,consisting of a linear quadratic regulator controller and a Kalmanfilter observer augmented with a shaping filter, is developed todeliver the assistance while attenuating external disturbances. Theresults show that it is possible to develop a model-based EPScontroller that is optimized for a given driverpopulation." @default.
• W2254776906 created "2016-06-24" @default.
• W2254776906 creator A5018127230 @default.
• W2254776906 date "2014-10-03" @default.
• W2254776906 modified "2023-09-25" @default.
• W2254776906 title "Dynamics and Model-Based Control of Electric Power Steering Systems" @default.
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