Performance Assessment of an Electric Power Steering System for Driverless Formula Student Vehicles
In the context of automated driving, Electric Power Steering (EPS) systems represent an enabling technology. They introduce the ergonomic function of reducing the physical effort required by the driver during the steering maneuver. Furthermore, EPS gives the possibility of high precision control of...
| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-07-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/10/7/165 |
| _version_ | 1797527876813193216 |
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| author | Raffaele Manca Salvatore Circosta Irfan Khan Stefano Feraco Sara Luciani Nicola Amati Angelo Bonfitto Renato Galluzzi |
| author_facet | Raffaele Manca Salvatore Circosta Irfan Khan Stefano Feraco Sara Luciani Nicola Amati Angelo Bonfitto Renato Galluzzi |
| author_sort | Raffaele Manca |
| collection | DOAJ |
| description | In the context of automated driving, Electric Power Steering (EPS) systems represent an enabling technology. They introduce the ergonomic function of reducing the physical effort required by the driver during the steering maneuver. Furthermore, EPS gives the possibility of high precision control of the steering system, thus paving the way to autonomous driving capability. In this context, the present work presents a performance assessment of an EPS system designed for a full-electric all-wheel-drive electric prototype racing in Formula Student Driverless (FSD) competitions. Specifically, the system is based on the linear actuation of the steering rack by using a ball screw. The screw nut is rotated through a belt transmission driven by a brushless DC motor. Modeling and motion control techniques for this system are presented. Moreover, the numerical model is tuned through a grey-box identification approach. Finally, the performance of the proposed EPS system is tested experimentally on the vehicle through both sine-sweep profiles and co-simulated driverless sessions. The system performance is assessed in terms of reference tracking capability, thus showing favorable results for the proposed actuation solution. |
| first_indexed | 2024-03-10T09:49:03Z |
| format | Article |
| id | doaj.art-9aa2fc909e50427bb3f19672a4fb91f2 |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-10T09:49:03Z |
| publishDate | 2021-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-9aa2fc909e50427bb3f19672a4fb91f22023-11-22T02:56:04ZengMDPI AGActuators2076-08252021-07-0110716510.3390/act10070165Performance Assessment of an Electric Power Steering System for Driverless Formula Student VehiclesRaffaele Manca0Salvatore Circosta1Irfan Khan2Stefano Feraco3Sara Luciani4Nicola Amati5Angelo Bonfitto6Renato Galluzzi7Department of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Turin, ItalyDepartment of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Turin, ItalyDepartment of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Turin, ItalyDepartment of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Turin, ItalyDepartment of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Turin, ItalyDepartment of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Turin, ItalyDepartment of Mechanical and Aerospace Engineering, Politecnico di Torino, 10129 Turin, ItalySchool of Engineering and Sciences, Tecnologico de Monterrey, Calle del Puente 222, Mexico City 14380, MexicoIn the context of automated driving, Electric Power Steering (EPS) systems represent an enabling technology. They introduce the ergonomic function of reducing the physical effort required by the driver during the steering maneuver. Furthermore, EPS gives the possibility of high precision control of the steering system, thus paving the way to autonomous driving capability. In this context, the present work presents a performance assessment of an EPS system designed for a full-electric all-wheel-drive electric prototype racing in Formula Student Driverless (FSD) competitions. Specifically, the system is based on the linear actuation of the steering rack by using a ball screw. The screw nut is rotated through a belt transmission driven by a brushless DC motor. Modeling and motion control techniques for this system are presented. Moreover, the numerical model is tuned through a grey-box identification approach. Finally, the performance of the proposed EPS system is tested experimentally on the vehicle through both sine-sweep profiles and co-simulated driverless sessions. The system performance is assessed in terms of reference tracking capability, thus showing favorable results for the proposed actuation solution.https://www.mdpi.com/2076-0825/10/7/165electric power steeringautonomous drivingsteering actuatordriverless racing vehiclescontrol |
| spellingShingle | Raffaele Manca Salvatore Circosta Irfan Khan Stefano Feraco Sara Luciani Nicola Amati Angelo Bonfitto Renato Galluzzi Performance Assessment of an Electric Power Steering System for Driverless Formula Student Vehicles Actuators electric power steering autonomous driving steering actuator driverless racing vehicles control |
| title | Performance Assessment of an Electric Power Steering System for Driverless Formula Student Vehicles |
| title_full | Performance Assessment of an Electric Power Steering System for Driverless Formula Student Vehicles |
| title_fullStr | Performance Assessment of an Electric Power Steering System for Driverless Formula Student Vehicles |
| title_full_unstemmed | Performance Assessment of an Electric Power Steering System for Driverless Formula Student Vehicles |
| title_short | Performance Assessment of an Electric Power Steering System for Driverless Formula Student Vehicles |
| title_sort | performance assessment of an electric power steering system for driverless formula student vehicles |
| topic | electric power steering autonomous driving steering actuator driverless racing vehicles control |
| url | https://www.mdpi.com/2076-0825/10/7/165 |
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