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Project Squeaky Wheel

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

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Project Squeaky Wheel

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  1. Project Squeaky Wheel Team Autobots Customer Continental Automotive David Agnew, Jeremy McClain Fall 2011

  2. 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

  3. DomainResearch • 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)

  4. Overview of Features • Basic look at steer by wire control • Simple control loop using PID to ensure proper control Requested Angle Torque Request New Wheel Angle PID Current Wheel Angle

  5. 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.

  6. Model-based View of System • Contains the following diagrams • Use Case • Class • Sequence • State

  7. Use Case Diagram

  8. Class Diagram

  9. Sequence Diagram

  10. State Diagram

  11. Prototype Overview

  12. Demonstration – Scenario 1 • Speed: -5 mph • Steering Wheel Adjustment : Left

  13. Demonstration – Scenario 2 • Speed: 0 mph • Steering Wheel Adjustment : Left

  14. Demonstration – Scenario 3 • Speed: 20 mph • Steering Wheel Adjustment : Right

  15. Questions?

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