Evaluation of Characteristics of Steering Wheel Torque Based on the LuGre Friction Model

Abstract

Steering torque is one of the most important information for a driver because it influences the driver’s maneuvering. The characteristics of steering torque are affected by mechanical properties of the steering system like the torsional stiffness, the steering wheel inertia and the mechanical friction. When vehicle handling and stability are evaluated using a driving simulator or a steering torque simulator, it is necessary to give proper steering torque considering these effects. In this study, two types of friction models, the LuGre model and the Masing model, were applied to the steering model. By numerical evaluation, it is shown that the friction torque by the Masing model contains high-frequency vibration when the steerting torque was kept fixed, while the friction torque by the LuGre model was rather smooth.