Convert our testbed vehicle into an simplified Nissan Infiniti Q50-style steer-by-wire (SBW) system.
To learn more about our BLUE testbed.
将我们的试验台车转换为简化的日产英菲尼迪Q50式线控转向系统。
要了解更多关于我们的BLUE测试平台。
The Q50 SBW system consist of,
Q50 SBW系统包括：
-
Steering-Force Sensor转向力传感器
Playing two roles, this unit sends commands to the control modules and acts as the driver's feedback source by varying resistance to the wheel.
发挥两个作用，该单元向控制模块发送指令，并通过改变方向盘的阻力作为驾驶员的反馈源。
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Clutch离合器
The fail-safe clutch in its column. In normal driving situations, this clutch is disengaged, but if one of the three control modules detects a fault, the clutch snaps shut and the steering acts as a conventional, electrically assisted rack-and-pinion system. The clutch also engages when the engine shuts off, so if one of the first SBW-equipped cars fails to start, the owner can still steer the car while pushing it.
转向柱中的故障安全离合器。在正常行驶的情况下，这个离合器是脱开的，但如果三个控制模块中的一个模块检测到故障，离合器就会扣合，转向器就会像传统的电动助力齿轮齿条系统一样。当发动机关闭时，离合器也会啮合，因此，如果首批装备SBW的汽车中有一辆汽车无法启动，车主仍然可以在推动汽车的同时进行转向。
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Control Modules控制模块
This trio controls the electric-assist motors and the steering-force sensor. They also act as redundancies.
这三个部件控制电动辅助电机和转向力传感器。它们也起到了冗余的作用。
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Steering-Assist Motors转向辅助电机
Two of these smaller motors are cheaper than one large one. Plus, this arrangement frees some space for a low-slung longitudinal engine.
两台这样的小型电机比一台大电机便宜。另外，这种安排为低垂的纵向发动机腾出了一些空间。
| Stanford's SBW | Ours | |
|---|---|---|
| Full vehicle layout |  |
 |
| Controller diagram |  |
TBD |
| Full vehicle block diagram |  |
TBD |
| Q50 SBW | Ours | Description | |
|---|---|---|---|
| 1. Steering-Force Sensor | angle sensor + | ||
| 2. Clutch | Undetermined | ||
| 3. Control Modules | Audesse FlexCase * 3 | ||
| 4. Steering-Assist Motors | DC motor + * 2 | * rated power 100W | 68.00 CNY@1 |
| Amplifier * 2 | 12V 30A DC motor H-bridge | 132.00 CNY@1 |
Q: How to determine motor torque?
A: See Motor Calculations for Coreless Brush DC Motors
Q: What is a H-bridge?
A: See Arduino DC Motor Control Tutorial
Q: What is a TFD?
A: See Lord's Tactile Feedback Device(TFD), and how
The TFD steering unit is a key component of fully-electric and electro-hydraulic SbW systems. These devices provide an integrated solution that combines bearing support, steering position sensing, communication and continuously variable resistive steering torque, all to deliver high-fidelity tactile feedback and maximum control to the operator.
TFD转向装置是全电动和电液式SbW系统的关键部件。这些装置提供了一个集成的解决方案，将轴承支撑、转向位置传感、通信和连续可变的电阻式转向扭矩结合在一起，所有这些都能为操作者提供高保真的触觉反馈和最大的控制。
- Yih, Paul. Steer-by-wire: Implications for vehicle handling and safety. (2005): 6021-6021.
- Gadda, Christopher David. Optimal fault-detection filter design for steer-by-wire vehicles. Stanford University, 2009.
- Gadda, Christopher D. Incorporating a Model of Vehicle Dynamics in a Diagnostic System for Steer-By-Wire Vehicles, Dept. of Mechanical Engineering. 94305-4021.