This paper deals with the control of the hand wheel actuator in steer-by-wire (SbW) vehicles. Here is a modular concept for the calculation of the desired steering torque presented. For this purpose, a steering torque model aiming to provide a realistic and simply adjustable steering feel is introduced. The steering torque model is made up of modules which respectively represent specific steering functions and should so facilitate the steering feel tuning. Moreover, the steering torque calculation also considers real-time aspects and thus offers a real-time capacity. The task of each module and the tuning of its corresponding function are firstly described. Then, the steering torque model is parameterized with the objective to mimic the steering feel of a series electric power steering (EPS) system. For this, experiments are performed with a test EPS mounted on a steering test bench and parameter identification techniques are applied. The steering torque calculation is objectively assessed through a weave test, which is carried out on the steering test bench coupled with a vehicle simulator. The results reveal that the proposed approach is promising for its upcoming implementation in an experimental SbW vehicle.
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