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Road feedback is an essential part of the driving experience, representing a connection betweenthe driver and the vehicle motion. Road feedback in a steer-by-wire system must berecreated and transferred to the driver through a feedback motor mounted on the steeringwheel. This project aimed to implement a function in the feedback motor control with thepurpose of giving the driver road feedback. The function should enhance the drivers trustand confidence in the steering system. Specifically, the function should provide the driverwith a feeling of being connected to the vehicle. A pre-study on the subject of steering feel was made as well as an interview study, whichresulted in a list of hypotheses. The hypotheses became a basis for generating conceptideas, together with measurement data of vehicle network signals for different drivingscenarios. Two different functions were then modelled and implemented in MathWorksSimulink. Function 1 models force components acting on the front road wheels in longitudinal,lateral and vertical direction. The forces result in a torque contribution fromeach dimension that acts around the steering axis and represents a reaction in the steeringsystem due to road disturbances. The torque is then translated to a steering wheel torque.Function 2 strives to capture road surface roughness through the high frequency informationin the steering rack motor torque. Three different road surfaces were studied; smoothasphalt, rough asphalt and gravel road. A test rig was used in order to verify the behaviour of the functions. The final step of theproject was to implement the functions in a test vehicle, where they could be further tunedand evaluated. The force component models of Function 1 captured different types of roadfeedback which were evaluated separately by timing, authenticity and desirability. Theresult of this evaluation was positive considering them separately. When the models werecombined it resulted in an unwanted behaviour. Function 2 gave torque feedback that feltauthentic and natural, especially for the gravel road case. However, it was more difficult todistinguish different asphalt types. The conclusion was that neither Function 1 nor 2 couldbe approved as finished functions, however both are considered as interesting concepts forfurther development. Fully steer-by-wire steering transmissions have now been approved for usage. This meansthat one of the remaining challenges for implementing steer-by-wire cars on today’s marketis the subjective views from the customers. Function 1 and 2 could be a way to providethe drivers with trust towards the steering, and at the same time, enhance the drivingexperience. / <p>The presentation was held at ACAS at Linköping University. The presentation included a summary and learnings from the project. A short demonstration was performed using a test-rig consisting of a steering wheel, a feedback motor and a control unit. </p>

A shift towards electric and hybrid propulsion within the marine sector create new challenges for conventional water jet units manoeuvred by hydraulic systems. The high efficiency in high speed water jet crafts benefit from being powered by electricity but will be compromised by constantly running hydraulic pumps, draining available electric capacity on-board. Wear and tear on hydraulic components are also an environmental contamination hazard, due to high pressure oil and exposed cylinder rods. However, conventional hydraulic power packs with subsystems to manoeuvre water jet unit is a well proven and reliable marine application.Steer-by-wire is not an uncommon subject, as it is frequently used in several industries such as aviation, automotive and offshore. The purpose of the study is to prepare a concept design proposal with CAD-models and drawings of electrically powered manoeuvring system for Marine Jet Powers DRB 750 steering units. The study did a literature study on the topic and qualitative research to fulfil the purpose. A generic product and concept development is conducted and computer aided design is done to present proposed prototype design.Results from the research gave 4 commercially available electrical actuators, all with significantly different functionality from each other resulting in 4 different concepts and thereof 1 prototype proposal integrated in the waterjet unit according to DNV standards.The selected concept in the study will need some further manufacturing configuration and optimisation for a full installation and working prototype. / Ett skifte mot elektisk och hybriddrift inom marina fartyg och framdrivningssystem skapar nya utmaningar och möjligheter, även så för höghastighetsfartyg där vattenjet har en fördel i sin karaktäristiska höga effektivitet. Idag manövreras vattenjetsaggregat med hjälp av hydraulik, som många gånger drivs med framdrivningsmaskineriet och/eller med en elektisk pump. Dessa system blir en energitjuv i en elektrisk eller hybridlösning för framdrivningen och så saknar det en naturlig lösning på hur en hydraulisk pump ska drivas. Slitage och skador på hydrauliska system kan även leda till miljöfarliga utsläpp av hydraulolja. Framför allt då det handlar om höga hydrauliska tryck och bland annat kolvstänger som är utsatta för påfrestningar från fartygens yttre miljö. Dock är hydrauliska system väl beprövade och pålitliga i marina miljöer.Styrning med hjälp av elkraft är inget som är nytt, även kallat Steer-by-wire, det har gjorts och används inom många områden så som flygplans-, bil- och offshoreindustrin. Syftet med studien är att skapa ett prototypförslag för elektisk manövrering av Marine Jet Powers vattenjetaggregat DRB 750. För att uppnå detta har en litteraturstudie genomförts och kvalitativ forskning för att samla information och få förståelse för ämnet. En generisk product- och konceptutveckling har använts med hjälp av datorstödd konstruktion för att presentera ett prototypförslag.Det har resulterat i 4 koncept med integrerade lösningar från olika tillverkare, som alla skiljer från varandra i funktionalitet och skulle kunna användas på ett sätt för att uppnå målet. Varav ett koncept som valdes, det vidareutvecklades till ett prototypförslag med skruvförband i vattenjetaggregatet och som även sågs till att uppfylla DNV:s standarder och regler. Det valda konceptet behöver vidare utveckling, integrering och optimering för att kunna installeras och testas i fungerande prototyp.

Driven by the need for automation and autonomy as well as the need to reduce resources and emissions, the automotive industry is currently undergoing a major transformation. Technologically, this transformation is addressing a wide range of challenges and opportunities. The optimal control of all components is significant for the sustainable development and eco-friendly operation of vehicles. Additionally, robust control of the actuators forms the basis for the development of driver assistance systems and functions for autonomous driving. The actuators of the steering system are particularly important, as they enable safe and comfortable lateral vehicle control. Therefore, the model-based development and virtual simulation of an innovative highly robust control approach for modern Steer-by-Wire systems were conducted in this thesis. The approaches and algorithms described in this thesis allow the design of robust Steer-by-Wire systems and offer the opportunity to conduct many investigations in a computer-aided virtual environment at an early stage in the development process. This reduces time- and cost-intensive testing on prototypes, avoids unnecessary iterations in the design and significantly increases the efficiency and quality of the development. The desired high degree of robustness of the steering control also ensures that the parameterization of the steering feel generator can be freely selected for the individual application. This enables safe and comfortable vehicle lateral control.In summary, the research results described in this thesis accelerate the development of new, modern Steer-by-Wire systems whose robust design forms the basis for the realization of functions for highly automated and autonomous driving.