Implementation of Steering-by-Wire Control System for Electric Golf Cart

This paper aims to modify electric golf cart, in the mechanical parts of the steering mechanical system for adaptation to drive-by-wire. A DC motor with digital encoder based on feedback control was utilized to activate the steering of golf cart by microcontroller (Arduino UNO). However, to accomplish the accuracy of the particular control system, the process of system identification, which is the estimation of the parameters of the mathematic model, is essential. The measurement of inputs and outputs during activating pulse width modulation input in sweep frequency form is employed to determine the unknown parameters of SISO mathematical model using a system identification using least-square method from frequency responses via software package Comprehensive Identification from Frequency Response (CIFER). Consequently, the obtained model is utilized for an optimization-based tuning of these PID controller gains offline in order to achieve the requirement of control design with Simulink. Finally, these PID controller gains was implemented for the feedback control system of the drive-by-wire system that mentioned. Performance of the proposed method can obtain the good quality of control performance as requirement.