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Sustainable Construction and Design <strong>2011</strong> 5 NOMENCLATURE F SF,SR Lateral tire force N C F,R Cornering stiffness N/rad a F,R Tire slip angle rad d F,R Steering angle rad a,b acc to fig. 1 m r Yaw rate rad/s Slip angle rad v Ground speed m/s v Voltage V I Inertia kgm2 Hand wheel angle rad J S Steering inertia kgm2 t Torque on hand wheel Nm i S Steering ratio - f Motor shaft angle rad J H HapticFeedback inertia kgm2 Current A K M Motor torque constant Nm/A K F Viscous constant Nms/rad K B BEMF constant Vs/rad R Resistance Ohm i H Haptic ratio - i M Force feedback ratio - 6 REFERENCES [1] Janosi, L., & Kis, J. (2010.). Steer-by-Wire Technology: Steering wheel as new, intelligent Human Machine Interface. VDI-MEG. <strong>Conference</strong> Agricultural Engineering. (pp. 7-14.). Düsseldorf: VDI Verlag. [2] Jazar, R. N. (2008). Vehicle Dynamics: Theory and Applications. NY: Springer. [3] Kopetz, H. (1997). Real-Time Systems: Design Principles for Distributed Embedded Applications. London: Kluwer Academic Publishers. [4] Odenthal, D. (2002). How to make Steer-by-Wire Feel like Power Steering. 1<strong>5th</strong> Triennial World Congress, Barcelona, Spain: Elsevier IFAC. [5] Switkes, J., Rossetter, E., & Gerdes, J. (2006). Handwheel Force feedback for Lanekeeping Assistance: Combined Dynamics and Stability. Journal of Dynamic Systems Measurement and Control v.128, no. 3 , 532-542. [6] Tapazdi, T., Kis, J., & Laib, L. (1997). Does the Concept of the trailer with propelled Axles Experince a renaissance. VDI-MEG. <strong>Conference</strong> Agricultural Engineering. (pp. 55-58.). Düsseldorf.: VDI-Verlag. [7] Yih, P., & Gerdes, J. (2005, oct. 25). Modification of vehicle handling characteristics via steer-by-wire. IEEE Transactions on Control Systems Technology , pp. 965-976. 74 Copyright © <strong>2011</strong> by Laboratory Soete
Sustainable Construction and Design <strong>2011</strong> DEVELOPMENT ENVIRONMENT FOR HAPTIC FEEDBACK DEVICE ON MOBILE AGRICULTURAL EQUIPMENT L. Jánosi, J. Kis Institute for Mechanical Engineering Technology, Faculty of Mechanical Engineering, Szent István University, Gödöllő, Hungary www.geti.gek.szie.hu Abstract The steering wheel equipped with a tactile feedback is a human machine interface (HMI), capable to present sophisticated feedback information for the operator. Haptic stimulation is superior in interpretation speed by humans compared to audio-visual information. In this paper we present the concept of haptic feedback on vehicle and the ongoing research activities at the Department of Mechatronics to develop flexible technology to retrofit production machines with steer-by-wire capability to collect data representing the interactions in different application context (road and field modes). Keywords haptic feedback, steering wheel, off-road vehicles 1 INTRODUCTION In the last decade numerous scientific results has been presented to the engineering community in the topic of Steer-by-Wire technology (SBW). Despite the fact that the more complex mechatronics providing the bywire functionality raises several safety related questions, also open exciting new opportunities for off-road vehicles not existing before. The topic SBW can be discussed in numerous aspects: For example the advanced sensor/actuator components, the administrative regulation of by-wire systems, the failure-tolerant communication to interconnect components and the redundant system design are all large topics alone [1], [2]. We would like to focus in this presentation on the new, exciting functions, which could be realized by the Human-Machine- Interfaces (HMI) of the SBW systems. Driving speed of agricultural mobile machines have been increased in the recent years, raising serious questions about vehicle handling characteristics considering the high center-of-gravity, multi-mass configuration and rear-wheel-steering of these vehicles. The next generation of steering systems on offroad vehicles will incorporate a steering column mechatronic subsystem which will generate tactile feedback for operator. Figure 1. Operator’s Control Functions: the „5 level model” The steering wheel and its force-feedback actuator should be recognized as a new operator interface which enables the representation of feedback information on a new way. 75 Copyright © <strong>2011</strong> by Laboratory Soete
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