Novel tactile perception device for torque feedback in SBW using magnetorheological fluid

Abstract

The steer by wire (SBW) steering system is equipped with a steering wheel motor to provide force feedback to the driver, allowing the driver to perceive the driving conditions and vehicle steering conditions. To achieve a lightweight, low energy consumption, and high stability of the SBW steering system, and considering the performance advantages of magnetorheological fluid (MRF), this paper proposes a new tactile perception device (TPD) that provides force feedback to the driver and is installed coaxially with the steering wheel, replacing the steering wheel motor. The TPD generates force feedback by adjusting the viscosity and yield stress of the MRF in response to a controlled input current, thus altering the resistance felt at the steering wheel. To determine the relationship between the TPD steering resistance and control current, this paper establishes a TPD theoretical analysis model based on the Bingham plasticity model, including the distribution of magnetic induction intensity inside the TPD, TPD power consumption, and the TPD steering resistance model. Considering the installation and layout of TPDs in actual vehicles, a TPD experimental verification platform is established to verify the current magnetic field steering resistance model experimentally. The results showed that as the current increased, the torque also increased, ranging from 0 to 12 Nm, with power consumption varying from 0 to 30 W. Additionally, a long-duration test with a constant 5A current applied for 120 min confirmed the mechanical stability of the TPD, with no significant thermal drift or degradation in performance observed. To further verify model accuracy and dynamic response, a control algorithm for precise current modulation was developed and tested through co-simulations in Pre-Scan and MATLAB/Simulink. The system was also validated through Hardware in the Loop (HIL) simulations, demonstrating its capability to adapt force feedback in real time based on varying driving speeds and conditions.

Keywords

tactile perception device steer by wire magnetorheological fluid Bingham model steering resistance model

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