SIMULATION OF TROLLEBUS STEERING SYSTEM WITH ELECTRIC POWER STEERING BASED ON ROLLING ROTOR SWITCHED RELUCTANCE MOTOR

The analysis of power steering which used on modern rolling stock is carried out. Their main shortcomings are identified. Given the requirements for the steering of trolleybuses, a solution to increase its efficiency is proposed. Based on the developed mathematical model and functional diagrams of the trolleybus steering system with a electric power steering based on rolling rotor switched reluctance motor, a simulation model of trolleybus steering was created using the Matlab Simulink package. The peculiarity of the simulation model is taking into account the mass and size characteristics of the rolling stock, the parameters of the suspension of the steered axle, the impact of the road surface and the speed of the trolleybus, changes in the parameters of the electric motor magnetic system during operation. The rolling rotor switched reluctance motor which is offered for use as the electric power steering of the LAZ E183D1 trolleybus is calculated. The calculation of the magnetic system of the engine by the finite element method with the subsequent approximation of the obtained results is carried out. With the help of the developed simulation model the simulation of the trolleybus steering system with electric power steering based on rolling rotor switched reluctance motor was performed. Time diagrams of transients in the trolleybus steering system are obtained and their processing and analysis are carried out.

Design and implementation of human driving data-based lane-keeping assistance system for electric bus

This paper describes design, implementation, and evaluation of human driving data-based Lane Keeping Assistance System (LKAS) for electric bus equipped with a hybrid electric power steering system. The hybrid electric-power steering system used in this study means a steering system in which an Electric Power Steering (EPS) system and an Electro-Hydraulic Power Steering (EHPS) system are integrated into a ball-nut. A dynamic model of hybrid EPS system including EHPS system and EPS system has been developed to generate EPS torque and EHPS force corresponding to the input torque. In order to determine proper timing of LKAS intervention, driving data of electric bus drivers were collected and driving patterns were analyzed using a 2-D normal distribution probability density function. Lane information necessary for the lane-keeping assistance system is obtained from a vision camera mounted on the electric bus. Sliding mode control is used to get a Steering Wheel Angle (SWA) required for LKAS. A Proportional–Integral (PI) control is used to obtain an overlay torque required to track the target SWA. A proposed DLC threshold has been validated using vehicle simulation software, TruckSim, and MATLAB/Simulink. It is shown that the proposed DLC threshold shows good performance in both cases of slow lane departure and fast lane departure. The proposed algorithm has been successfully implemented on the electric bus and evaluated via real-world driving tests. Test scenario setting and the evaluation of performance were carried out by ISO 11270 criteria. It is shown that the algorithm successfully prevented the electric bus from unintended lane departure satisfying ISO 11270 criteria.

Robustness Analysis of an Electrohydraulic Steering Control System Based on the Estimated Uncertainty Model

The impossibility of replacing hydraulic drives with other type drives in heavy duty machinery is the main reason for the development of a system for controlling hydraulic power steering. Moreover, the need for remote automatic control of the steering in specific types of mobile machinery leads to significant scientific interest in the design of embedded systems for controlling electro-hydraulic steering units. This article introduces an approach, which has been developed by authors, for robust stability and robust performance analysis of two embedded systems for controlling electro-hydraulic power steering in mobile machinery. It is based on the suggested new more realistic “black box” SIMO model with output multiplicative uncertainty. The uncertainty is obtained by parameters confidence interval and Gauss approximation formula. The embedded control systems used a linear-quadratic Gaussian (LQG) controller and H∞ controller. The synthesis of the controllers was performed on the basis of a nominal part of an uncertainty model. Robust stability and robust performance analyses were performed in the framework of a so-called structured singular value, μ. The obtained theoretical results were experimentally approved by real experiments with both of the developed control systems, which were physically realized as a laboratory test rig.

Electric Power Steering Power Circuit Health Assessment and Mitigation Strategy

With recent developments of energy efficient design and control for electric motors, electrical subsystems and components have become integral parts of main actuators in vehicle systems (e.g., steering and propulsion systems). To ensure proper vehicle operations, it is important to make sure that electrical power is properly transmitted through the power circuit from vehicle power source to the electric motor. However, degradation in the power circuit health, which often manifests itself as increased resistance, may affect power transmission and degrade the system performance. For example, in Electric Power Steering (EPS) systems, if the EPS power circuit resistance is increased and the EPS is drawing power to assist the driver, voltage at the EPS module will drop significantly, causing the EPS to reset and, consequently, Loss of Assist (LOA) incidents. Due to compliance in the steering system and suspension design, drivers often feel that the steering system is fighting back when an LOA incident occurs. While previous work has partially addressed this issue by developing algorithms that estimate resistance increase in EPS power circuits, this paper further validates and refines the algorithms for vehicle on-board and off-board implementations using test drive data collected. Since on-board and off-board implementations impose different limits on signal sampling rates, a total of 250 and 465 minutes of data are respectively collected with various vehicle speeds and steering maneuvers. Moreover, a supervisory control solution, referred to as EPS Anti-Loss-of-Assist (ALOA), is proposed that gradually and proactively reduces EPS torque assist as resistance in the EPS power circuit increases so that the EPS voltage is kept above a resetting threshold. Stationary steering tests of the proposed solution as well as demonstrations on parking lot maneuvers at General Motors Milford Proving Grounds are conducted. The stationary steering tests and demonstrations show that, with the proposed supervisory control, negative effects of increased EPS power circuit resistance can be mitigated without noticeable changes in normal driving experience.

Performance Analysis of a Main Drive Motor—Initial Study of an EV Modeling Software Design

This study aimed to determine and analyze the performance of an electric motor installed in a small city car, which was an internal combustion engine (ICE) car with manual transmission and front-wheel drive converted into an electric vehicle. A manual transmission vehicle was used, considering its type is the cheapest. This was to push aside the perception that electric cars are not accessible to the lower classes. Another technical matter was the focus on the power and torque performance of the electric motor and the transmission. A 7.5 KW three-phase induction motor was installed and assembled with 200 AH 76.8 VDC batteries. Electronic power steering (EPS) and the air conditioner (AC) were not operated, while power for the electrical accessories and power analyzer was obtained from a separate 12 VDC battery. Vehicle analysis focused on the power consumption, which was measured and acquired using a power analyzer. The vehicle was driven in real terms with three passengers. GPS was also used to determine the vehicle position and collect elevation data during testing. The derivatives of the GPS data were the speed, acceleration, and distance traveled by the vehicle. The initial hypothesis was that the car could cover a distance of 30 km with regular usage.

Model-based feedforward control for suppressing torque oscillation of electric power steering system

Oscillation suppression is essential for the stability design of electric power steering (EPS) systems. The stability controller module in EPS controller is the key to solve the stability control problem of EPS system. This paper proposes a new method of stability analysis and stability controller module design for EPS systems. Furthermore, the dynamic characteristics of the EPS system are analyzed, and two critical factors on the resulting EPS stability, that is, large assist and variable assist gain are investigated experimentally. The transfer function from steering torque to sensor torque is redefined. A new transfer function is proposed for measuring the effect of variable assist gain on system performance. Based on the above factors and transfer functions, constraints on the stability controller design are proposed. Then the optimal parameters in the controller are obtained by maximizing an objective function including phase margin, gain margin, and crossover frequency. It is concluded from simulations and bench tests that the proposed stability controller can significantly reduce the torque oscillation of the EPS system.

Hardware in the loop simulation technology evaluation method for power steering systems

In the paper, the method of measuring and assessing of steering systems with the help of test benches with HILS technology implementation is justified in part of the adaptive algorithms of the regulation of the assistant steering torque. In the article, overall principal of creating virtual – physical system using as a physical part the rack and pinion steering system with electromechanical assistant is described. Interaction of the physical and virtual parts and fields of usage are described. Development, calibration and tweaking of the newly designed ECU and adaptive algorithms suppose a lot of testing. Time consumption and difficultness can be reduced only by the way of carrying out bench tests with usage of HILS technology.