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Rack Force Estimation in Steer-by-Wire Systems
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Xinyu ZHAO, Jiaqi LI, He LIU, Xuewu JI
Chinese Journal of Automotive Engineering | 2025, 15(1) : 116 - 123
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Chinese Journal of Automotive Engineering | 2025, 15(1): 116-123
• 2024 Conference of China SAE Branch of Automotive Steering Technology •
Rack Force Estimation in Steer-by-Wire Systems
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Xinyu ZHAO, Jiaqi LI, He LIU, Xuewu JI
Affiliations
  • School of Vehicle and Mobility，Tsinghua University，Beijing 100084，China
Published: 2025-01-20 doi: 10.3969/j.issn.2095‒1469.2025.01.12
Outline
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Rack force is a critical parameter in road feel design and steering follow-up control for steer-by-wire systems. Since it is difficult to measure rack force directly in mass-produced vehicles, its estimation becomes a key aspect in steer-by-wire. This article adopts two methods to estimate the rack force. The first method is based on vehicle dynamics, using Luenberger observer to obtain lateral velocity and the tire brush model is applied to analyze steering resistance torque. The second method is based on steering dynamics, involving a dynamic model for the steering actuator and the direct estimation of rack force using a Kalman filter. The results of the two methods are compared through hardware-in-the-loop (HIL) testing, and then a rule-based fusion strategy using multiple variables is proposed to combine the strengths of the two methods. Finally, bench test results show that the proposed fusion strategy effectively improves the accuracy and real-time performance of rack force estimation under different working conditions.

steer-by-wire  /  rack force estimation  /  luenberger observer  /  Kalman filter  /  fusion strategy
赵欣羽, 李佳祺, 刘贺, 季学武. 汽车线控转向系统齿条力观测方法研究. 汽车工程学报, 2025 , 15 (1) : 116 -123 . DOI: 10.3969/j.issn.2095‒1469.2025.01.12
Xinyu ZHAO, Jiaqi LI, He LIU, Xuewu JI. Rack Force Estimation in Steer-by-Wire Systems[J]. Chinese Journal of Automotive Engineering, 2025 , 15 (1) : 116 -123 . DOI: 10.3969/j.issn.2095‒1469.2025.01.12
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Year 2025 volume 15 Issue 1
1130
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doi: 10.3969/j.issn.2095‒1469.2025.01.12
  • Receive Date：2024-10-10
  • Online Date：2025-07-20
  • Published：2025-01-20
Article Data
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  • Received：2024-10-10
  • Revised：2024-11-25
Affiliations
    School of Vehicle and Mobility，Tsinghua University，Beijing 100084，China
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表12种不同金属材料的力学参数
科
Family		 属数
Number of
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Number of
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Percentage of
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鹅膏菌科Amanitaceae 2 11 5.26 鹅膏菌属 Amanita 10 4.78
小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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