Conventional Steering System
• Rack and pinion system
• Constant steering ratio
• Fully mechanical system
AFS
• Wheel steer angle = superposition of steering wheel
angle and AFS actuator
• Variable steering ratio
• Combination of mechanical and electrical systems
Assumptions in modeling and control AFS
Fx = 0 (No braking or throttle inputs)
- Fyf = Cf f
- Fyr = Cr r
Where Cf = cornering stiffness of front tires
Cr = cornering stiffness of rear tires
wheel side slip angle
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