A Generic Model-Based Advanced Control of Electric Power-Assisted Steering Systems

Chen, Xiang; Yang, Tiebao; Chen, Xiaoqun; Zhou, Kemin

doi:10.1109/tcst.2008.921805

Cited by 83 publications

(8 citation statements)

References 10 publications

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“…The power assist characteristics play a key role in the performance of electric power steering systems, such as portability, correction, steering road feel, and so on. [24][25][26] In order to solve the contradiction between lightness and ''flexibility'' of electric power steering system, The assist characteristics curve should be matched to the specific vehicle parameters and driver requirements for steering portability and road feel. The basic requirements of EPS control strategy design need to follow two aspects.…”

Section: Upper-level Controlmentioning

confidence: 99%

A novel dual power-driven electric power steering system for electric commercial vehicles

Fu,

Lu,

Zhao

et al. 2023

Advances in Mechanical Engineering

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To solve the power limitation problem faced by the development of EPS system for commercial vehicles and achieve the high-performance steering, this article presents a novel dual power-driven electric power steering system (DPEPS) for commercial vehicles by using the open winding permanent magnet synchronous motor (OPMSM) fed by dual inverter with high and low DC voltage supplies. First, the two-level control strategy is introduced for the developed DPEPS system, where the upper control is designed to make the actual steering follow the expected steering performance as determined by the assistant torque curve and to generate the appropriate target current according to the vehicle speed and steering torque. And then the lower control consists of the synthetical space vector control scheme and dual PI control loop is used to execute commands from the upper control, which can make the motor execute the appropriate power supply method according to the steering torque and assist current. Finally, a co-simulation model is carried out for an electric bus, and based on which the proposed DPEPS system is validated.

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Section: Upper-level Controlmentioning

confidence: 99%

A novel dual power-driven electric power steering system for electric commercial vehicles

Fu,

Lu,

Zhao

et al. 2023

Advances in Mechanical Engineering

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“…Therefore, classical control algorithms can be used to control this system. In reference [16], Chen et al introduced the use of a simple PI controller for the EPS system. The coefficients of this controller were selected as follows: kP = 20400 and kI = 700.…”

Section: Introductionmentioning

confidence: 99%

Proposing a BSPID Control Strategy Considering External Disturbances for Electric Power Steering (EPS) Systems

Nguyen,

Nguyen

2023

IEEE Access

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EPS systems provide superior efficiency compared to conventional mechanical steering systems. Steering feel and comfort are supported by an electric motor, which is controlled by an appropriate controller. This article introduces an integrated control algorithm for EPS system control with two novel contributions. Firstly, this algorithm is synthesized based on a backstepping (BS) controller and a proportional integral derivative (PID) controller, called the BSPID controller. The control signals are amplified based on optimal coefficients determined by the loop algorithm. Secondly, a complex steering dynamics model is established based on five state variables that consider the influence of road reaction torque and other external disturbances. The performance of the control algorithm is evaluated through simulation at the MATLAB-Simulink interface. According to the numerical simulation results, the value of the steering motor and steering column angles increases when using the EPS system instead of the conventional mechanical steering system. Under the same driver torque conditions, the variation of output parameters will decrease as the speed increases based on the assisted torque map. On the contrary, the change in output parameters will increase sharply when driver torque increases (under the same speed conditions). The results obtained from the BSPID signal always closely track the reference signal in all investigated conditions with negligible errors, even though the steering system is still subject to external random disturbances. Generally, stability is guaranteed once the BSPID integrated algorithm is applied to control the EPS system.

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“…In the nonautonomous mode, the role of the EPS is to control the motor torque to generate assistant the non-autonomous mode, the role of the EPS is to control the motor torque to generate assistant motor torque for the driver and then both the assistant motor torque and the driver torque are added to generate the required torque to turn the wheel. Research on control of EPS in the nonautonomous mode can be found in [1][2][3][4][5][6]. The focus of this paper is on the control of the EPS in the autonomous mode.…”

Section: Introductionmentioning

confidence: 99%

A Robust Electric Power-Steering-Angle Controller for Autonomous Vehicles with Disturbance Rejection

Khasawneh

Das

2022

Electronics

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This paper addresses the challenges associated with steering-angle control of electric power steering for autonomous vehicles, including steering model parameter uncertainty, dependency of self-aligning moment disturbance estimation on tire parameters, and compensation for the asymmetrical hysteresis behavior in the steering system caused by backlash in gears and static friction. A variable gain-sliding mode steering-angle controller is developed to deal with these challenges. Replacing the fixed gain with variable gain in the sliding mode controller solves two problems: it eliminates chattering, and it allows for automatic gain adjustment based on the maneuver and the size of the error, which eliminates the need for gain scheduling. Both fixed and variable gain-sliding mode controllers are derived and compared in simulations to prove the superiority of the variable gain controller. A sliding mode observer is developed to estimate the self-aligning moment disturbance without required information about the tire parameters, which makes it vehicle independent. The observer also treats the static friction as disturbance and estimates it along with any other disturbance, such as driver torque disturbance. The stability of both the controller and the observer is proven using Lyapunov stability theory. Simulation and experimental results proved the robustness of the presented methods to the above challenges.

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A Generic Model-Based Advanced Control of Electric Power-Assisted Steering Systems

Cited by 83 publications

References 10 publications

A novel dual power-driven electric power steering system for electric commercial vehicles

A novel dual power-driven electric power steering system for electric commercial vehicles

Proposing a BSPID Control Strategy Considering External Disturbances for Electric Power Steering (EPS) Systems

A Robust Electric Power-Steering-Angle Controller for Autonomous Vehicles with Disturbance Rejection

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