Raffaele Manca
Design and implementation of an Electric Power Steering system for a Formula Student Driverless vehicle.
Rel. Nicola Amati, Andrea Tonoli, Salvatore Circosta, Irfan Khan. Politecnico di Torino, Corso di laurea magistrale in Automotive Engineering (Ingegneria Dell'Autoveicolo), 2020
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Abstract: |
Electric power steering (EPS) systems represent a key technology for highly automated driving. Beside the ergonomical function of reducing the physical effort required to the driver during the steering manouver, EPS gives the possibility of high precision control of the the steering system, furthermore the integration of the control unit into the vehicle electrical system paves the way to automated driving function. Formula Student Driverless competition provides a unique opportunity to design and test autonomous control systems required in automated transport. Thus the aim of this master thesis is the design, control and implementation of an autonomous steering system for a Formula SAE Driverless vehicle. The requirements and regulations of Formula Student competition among with the constraints for the integration of the autonomous steering actuator with the steering system of the vehicle SC 19 developped by Squadra Corse in Politecnico di Torino, led to the layout chosen. It consists of the linear actuation of the rack by using a ball screw shaft. The ball screw nut is rotated using a belt transmission driven by a brushless DC electric motor. The present work examines advantages and characteristics of the layout chosen. The attention has been focused on the design, tuning and implementation of the control of the BLDC motor. Numerical models of the motor and of the loads have been developped in Matlab/Simulink environoment. Hence the PI current controller and the PID position controller has been designed and modeled in order to tune and optimize it for enhancing its performances. The complete model has been experimentally validated with the data recorded from motor sensors. Furthermore the CANOPEN communication between the Autonomous steering system motor control unit and the car ECU is implemented and tuned for the autonomous driving mission. The last step of the project consists in setting up a test bench for the complete system testing and validation. |
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Relators: | Nicola Amati, Andrea Tonoli, Salvatore Circosta, Irfan Khan |
Academic year: | 2020/21 |
Publication type: | Electronic |
Number of Pages: | 85 |
Subjects: | |
Corso di laurea: | Corso di laurea magistrale in Automotive Engineering (Ingegneria Dell'Autoveicolo) |
Classe di laurea: | New organization > Master science > LM-33 - MECHANICAL ENGINEERING |
Aziende collaboratrici: | Politecnico di Torino |
URI: | http://webthesis.biblio.polito.it/id/eprint/16285 |
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