Simulation Of Automatic Steering System

Zulfadli, Kasmani (2010) Simulation Of Automatic Steering System. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

The automotive steering system has been evolved for several decades due to the electronics revolution which has changed completely the landscape of conventional steering system. The development of steering system that leads to the creation of automatic steering system can be portrayed as pure mechanical steering system developed to hydraulic power steering to electrohydraulic power steering to electric power steering (EPS) and finally to SBW system. Automatic steering system has changed completely the aforementioned systems by eliminating the mechanical connection of steering shaft to the steering rack. The scope of the research project is to construct the mathematical modeling of automatic steering system using Simulink Models in MATLAB for simulation and to verify the automatic steering behavior of simulated vehicle model in MATLAB Simulink. Although the project scope lies between mathematical modeling and simulation, the project also covers the design of automatic steering test rig since there is no existing test rig to be experimented. Due to the simplicity of steering system mechanisms and lower cost, Perodua Kancil steering and suspension system has been chosen to be experimented. The design development of automatic steering test rig covers the conceptual design phases before final design is produced to be fabricated. The project continues with the development of 9 DOF vehicle model derived from several journals and conference proceedings. To verify the proposed vehicle model, CarSim has been chosen for comparison purpose. The driver model integrated with PID controllers which functions as the vehicle model controller is developed before the automatic steering behavior of simulated vehicle model is analyzed and verified in MATLAB Simulink. Simulation results have verified that the proposed vehicle model has shown the automatic steering behavior in MATLAB Simulink.

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