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Theis work: Road Feedback Function Development for Closed-loop EPAS and Steer-by-Wire

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At Volvo Cars, we believe that being curious and truly committed to understanding people is the key to future success. We are people who care about other people, working together to create new technologies and innovations for safe, sustainable and convenient mobility. Want to join us?

 

Road Feedback Function Development for Closed-loop EPAS and Steer-by-Wire

 

Target group: Systems, Control and Mechatronics, Communication and/or Electrical Engineering, Vehicle Engineering, Automotive Engineering

At Product & Quality you will be a key contributor to the next generation outstanding luxury cars from Volvo. Together with other engineers around the world, you and your team will create innovative human-centric car technology that makes life less complicated and more enjoyable for people. Are you interested in design and connected car technology? Do you share our passion for people, the environment and our urge to create a superior driving experience? Research and Development is the place for you to prosper.

This thesis work will be carried out within the Steering Function Development group, which is a part of VCC´s Product & Quality organization.

 

Background

In closed-loop steering feedback control systems (be it either electric power assisted steering or steer-by-wire setup), we have two major software components in hierarchy: reference generator and feedback controller. The reference generator, which consists of various steering feedback functions, ensures a desired haptic steering feel to the driver. The feedback controller on the other hand is responsible for tracking the required reference generator request. This thesis focuses on the development of road feedback function inside the reference generator block.

Typically, a closed-loop steering feedback control requires information on external steering rack force in order to make the driver feel about the actual enviormental excitation, such as change in tire-road grip, limit handling, etc. In our control architecture, the road feedback function primarily consists of a steering rack force estimator (which is developed in-house) that fulfills this purpose. This thesis will do an investigation on further development of the road feedback function and to understand how the signal processing of the estimated rack force should be handled for both the steering systems.

Scope

At first, the investigation is done by considering the different latency in the estimated rack force signal and objectifying the closed-loop stability and performance measures of the overall control architecture. This requires strong mathematical and analytical control theory skills.

The second part of the problem deals with the frequency content information in the estimated rack force signal. It means what information in the estimated rack force signal should be fed to the reference generator and what else should be discarded. The estimated rack force info should be gain scheduled with other signals by mapping different driving scenarios using the vehicle state info signals such as yaw rate, lateral acceleration, vehicle speed, etc. It should be possible to work on this problem alongside our test engineers. This requires a strong understanding of vehicle dynamics.

Tests will be performed in a prototype vehicle to validate the road feedback function and its results.

Research questions:

Literature review on steering rack force estimators and observers, non-linear filtering and signal processing.

How the different steering CAN signals’ latency time for estimated rack force affect the closed-loop stability and performance of the steering feedback control?

Developing the road feedback function using the estimated rack force signal along with other states info (such as lateral acceleration, yaw rate, vehicle speed, steering angle, etc.). This is to understand and map the required frequency content of the estimated rack force signal which should be sent to the reference generator as desired by the driver.

 

Do you fit the profile?

Academic field of study: 2nd year master students preferably 1 each from Mechatronics and Vehicle Dynamics field of study.

Undertaken courses (or equivalent): Good understanding of vehicle dynamics, control theory, system identification and closed-loop system stability concepts.

Self-motivated with good oral and written English language communication skills.

Software experience: Matlab, Simulink, Control and System Identification toolbox, etc.

 

Timeline

The thesis duration is approximately 20 weeks or 1 semester and it starts in January 2020.

On successful completion of the thesis work, it will give 30 course credit points.

Suitable for 1-2 students

 

How to learn more and apply

We would like your application to consist of a CV, cover letter and university grades. Interviews will be held continuously, please register your application as soon as possible. We want your application at the earliest and no later than 2019-11-20.

 

Contact        

Tushar Chugh, tushar.chugh@volvocars.com
David Dahlgren, david.dahlgren@volvocars.com

Fredrik Bruzelius, fredrik.bruzelius@chalmers.se 

Start date: 2019-01

End date: 2019-06

 

Use the electronic application form at https://group.volvocars.com/careers/students

 

 

 

 

Who are we?

Everything we do starts with people. Our purpose is to provide freedom to move, in a personal, sustainable and safe way. We are committed to simplifying our customers’ lives by offering better technology solutions that improve their impact on the world and bringing the most advanced mobility innovations to protect them, their loved ones and the people around them. 


Volvo Cars’ continued success is the result of a collaborative, diverse, and inclusive working environment. The people of Volvo Cars are committed to making a difference in our world. Today, we are one of the most well-known and respected car brands, with over 40,000 employees across the globe. We believe in bringing out the best in each other and harnessing the true power of people. At Volvo Cars your career is designed around your talents and aspirations so you can reach your full potential. Join us on a journey of a lifetime as we create safety, autonomous driving and electrification technologies of tomorrow.

Gothenburg, O, SE

Job requisition ID:  27099

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