Development of Estimation Force Feedback Torque Control Algorithm for Driver Steering Feel in Vehicle Steer by Wire System: Hardware in the Loop

Table 2

Front axle system parameter [15].

Parameter	Description	Value	Unit
	Motor resistance	4.64	ohm
	Motor inductance	0.015	henry
	Motor constant	0.032	Nm
	Motor inertia	0.0062	kgm^2
	Motor damping	0.0036	Nm/(rad/s)
	Lumped torque stiffness	0.025	Nm
	Rack damping coefficient	0.015	henry
	Rack lumped mass	0.032	Nm
	Rack linkage stiffness	0.00062	kgm^2
	Offset of king pin axis	0.00036	m
	Pinion gear radius	0.025	m
	King pin damping coefficient	0.00062	kgm^2
	Lumped front wheel inertia	0.00036	kgm^2
	Lumped torque stiffness	0.025	Nm