Synchronization Control of Dual Motor Driving Steer by Wire System

The Steer by Wire (SbW) system is a system that replaces the mechanical connection between the steering wheel and the vehicle's wheels with electrical signals to control steering. Dual motor driving SbW is designed with physical redundancy in case the SbW system does not operate normally. The system's mechanism requires synchronization control between the two motors to maintain driver safety in response to external disturbances and changes in driving conditions. This paper presents a position control scheme that utilizes the mean and difference of the two motor angles to directly control tracking performance and synchronization error. To apply the proposed method, the system's dynamics were theoretically analyzed, and a controller was designed based on that analysis. Finally, the proposed control scheme's performance is validated through experiments.