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In view of the low accuracy of the existing force feedback control model of steer-by-wire system and the difficulty of obtaining some system parameters, a joint simulation model of steer-by-wire system was established based on CarSim software. Aiming at the safety problem of variable Angle ratio based on constant yaw Angle gain, a scheme is designed to adopt constant Angle ratio at high speed and low speed and constant yaw Angle gain at medium speed. The steering rack force is obtained by measuring the working current of steering motor with high precision sensor, and the feedback force control algorithm is designed with PID control. Finally, the correctness of the control algorithm is verified by the central area steering test and steering portability test, and the performance of ESP system is compared. The results show that the feedback force control algorithm can greatly improve the control accuracy of the feedback torque and make the driver get a good road sense.
Ma et al. (Wed,) studied this question.