Modeling Non-Backdriving Behavior in an Electromechanical Steering Actuator Using Bond Graphs

Jonathan Loyola, Kyungbok Lee, and Donald Margolis

In an application of rear-wheel steering for an automobile, an electromechanical steering actuator can be used for positioning the rear wheel’s angle. The wheel may experience large forces not only from the motor, but also from the road. However, depending on the configuration of the system, the motor typically cannot be backdriven. If this is not considered in the modeling process, a model of the system may allow backdriving and give erroneous results. This paper explores different methods of implementing the non-backdriving behavior with the aid bond graph modeling. The goal is to compare different ideas of implementation and find an appropriate method for the system presented.

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