Road Sense Construction Approach Based on Friction Compensation for Steer-by-Wire System

The steer-by-wire (SbW) system, which replaces traditional mechanical linkages, represents a significant advancement in steering system development. However, this decoupled design results in the loss of road sense transmission through the hand wheel and diminishes the performance of active return. To address these challenges and provide a convincing steering feel, this paper introduces a road sense construction approach based on explicit model predictive control (EMPC) with friction compensation. Initially, the characteristics of the hand wheel module are analyzed to establish the foundation for controller design and propose a friction model. Subsequently, the target steering feedback torque (SFT) for road sense construction is designed. To ensure precision and real-time performance, a controller based on EMPC with friction feedforward compensation is presented. Experimental validation confirms the authenticity of the design, the tracking accuracy of the controller, and the effectiveness of the disturbance models.