project squeaky wheel
DESCRIPTION
Project Squeaky Wheel. Team Autobots. Customer Continental Automotive David Agnew, Jeremy McClain. Fall 2011. Project Overview. Steer-by-wire replaces the traditional steering system with an electronic one Motivation - PowerPoint PPT PresentationTRANSCRIPT
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Project Squeaky WheelTeam Autobots
Customer Continental AutomotiveDavid Agnew, Jeremy McClain
Fall 2011
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Project Overview
• Steer-by-wire replaces the traditional steering system with an electronic one
• Motivation‒ To remove the mechanical system from the vehicle,
reducing power consumption‒ To provide more responsive steering‒ Car Design improvements‒ A possible future with complete autonomy
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Domain Research
• Steer-by-wire is a very new technology• Most material available is from research
projects• Not used in personal transportation vehicles
yet• Primary use currently is in industrial
equipment (forklifts, some agricultural vehicles)
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Overview of Features
• Basic look at steer by wire control• Simple control loop using PID to ensure proper
control
Requested Angle
Current Wheel Angle
PID Torque Request
New Wheel Angle
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Project Constraints
• The system is only active in the speed range of -10 to 20 miles per hour
• System must recalculate values every 500µs• The assisted torque is always within the range
of +10 to -10 Nm.
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Model-based View of System
• Contains the following diagrams
• Use Case• Class • Sequence• State
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Use Case Diagram
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Class Diagram
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Sequence Diagram
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State Diagram
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Prototype Overview
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Demonstration – Scenario 1
• Speed: -5 mph• Steering Wheel Adjustment : Left
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Demonstration – Scenario 2
• Speed: 0 mph• Steering Wheel Adjustment : Left
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Demonstration – Scenario 3
• Speed: 20 mph• Steering Wheel Adjustment : Right
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Questions?