Method for designing a control unit for a master/slave vehicle steering system, uses bidirectional control with its dynamic ratio as equivalent as possible to that of a preset reference system.

摘要

A device includes a linear manual steering part (100), a steering operation device/steering wheel (102), a steering rack (110a), a track rod (110b) and a non-linear support part (200). A mathematical model is set up in advance for the dynamic behavior of a reference system. Using this model and feedback signals set in advance determines the structure and parameters of a control unit. Independent claims are also included for the following: (a) A bidirectional control unit for a master/slave system; (b) and for a steer-by-wire system with a kinesthetic coupling between a steering operational device for controlling steering behavior through a user with sensors and effective forces/torque regarding angle.