Rack force feedback for an electrical power steering simulator

Lamri Nehaoua (1) , Mohamed Djemai (2) , Philippe Pudlo (2)

1 IBISC - Informatique, Biologie Intégrative et Systèmes Complexes
2 LAMIH - Laboratoire d'Automatique, de Mécanique et d'Informatique industrielles et Humaines - UMR 8201

This paper presents a force feedback control approach to enhance the realism and the fidelity of an electric power steering simulator. This simulator includes a real steering system with its electric assistance and a DC motor intended for the load rack force restitution. This motor allows to compensate for the lack of real tires and to simulate the tire/road contact as in a real driving situation. Besides, two different scenarios case study are introduced to prove the effectiveness of the various algorithms: virtual sensor based on sliding mode observer for the unknown input estimation and a sliding mode control for the force feedback.

Keywords: driving simulators; force feedback; sliding mode control; sliding mode observer

Domains: Automatic

Lamri Nehaoua, Mohamed Djemai, Philippe Pudlo. Rack force feedback for an electrical power steering simulator. 20th Mediterranean Conference on Control and Automation (MED 2012), Jul 2012, Barcelona, Spain. pp.79--84, ⟨10.1109/MED.2012.6265618⟩. ⟨hal-00747060⟩