Steering Feel Design for Steer-by-Wire System on Electric Vehicles

In this paper, the problem of hand-wheel force feedback to obtain the tire-to-ground contact information for steer-by-wire (SBW) system is studied. The torque generated by the upper motor is composed of road-to-tire contact torque, known as self-aligning torque (SAT), returnability torque and inherent system torque. The terminal sliding mode control (TSMC) is designed to guarantee the hand-wheel angle converges to the reference angle in finite time when the vehicle is static. Furthermore, a steering feel model including damping, inertia and SAT are proposed to model the actual lower part feedback force while the vehicle is under verified road condition. Simulation results verify the effectiveness and good performance of the proposed method.