Design and evaluation of an observer-based disturbance rejection controller for electric power steering systems

Mehrabi, Naser; McPhee, John; Azad, Nasser L.

doi:10.1177/0954407015596275

Cited by 12 publications

(6 citation statements)

References 32 publications

(40 reference statements)

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“…The transmission function of the filter, for the current introduction after the T-axle filtration [14][15][16], converts the formula into the standard form of recursive least-square:…”

Section: Controller Designmentioning

confidence: 99%

Archives of Electrical Engineering

Naibiao,

Tianfang,

Xuezheng

2019

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An electric power steering system (EPS) is a new type of steering system developed after a mechanical hydraulic power system (MHPS) and electric-hydraulic power steering system (EHPS). In order to coordinate and solve the portability and sensitivity of the steering system optimally, taking an induction power steering system as the research object, the control algorithm of induction motor control under the EPS is studied in this paper. In order to eliminate the feed-forward performance degradation caused by the change of feed-forward parameters, an on-line identification algorithm of feed-forward parameters is proposed. It can improve the control performance of online identification among three feed-forward parameters in the T-axle motor, it improves on the robustness of feed-forward control performance, at the same time it also gives simulation and test results. This method can improve the control performance of the three feed-forward parameter online identification of the T-axis motor and improve the robustness of feed-forward control performance. At the same time, simulation and test results are given. The simulation results show that the algorithm can significantly improve the response speed and control accuracy of EPS system control.

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“…The transmission function of the filter, for the current introduction after the T-axle filtration [14][15][16], converts the formula into the standard form of recursive least-square:…”

Section: Controller Designmentioning

confidence: 99%

Archives of Electrical Engineering

Naibiao,

Tianfang,

Xuezheng

2019

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“…To improve system performance, Ma et al introduced an active disturbance reject control method for the EPS system [44]. External disturbances could be rejected using Gaussian and Kalman filters, according to Mehrabi et al [45]. In some extreme conditions, we were able to use the active disturbance rejection control (ADRC) method to apply it to the steering system.…”

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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“…And their simulation experimental results show that, compared with the conventional fuzzy control, particle swarm optimization fuzzy control can improve the whole dynamic response of heavy truck EPS system efficiently, also good steering portability and handling stability is obtained. Other researchers used fuzzy control [6,7], variable structure control [8], LQR control [9,10], disturbance observer [11], sliding mode control [12,13], robust and H∞ control [14][15][16], optimization algorithm [17,18], friction compensation control [19], road feeling [20], and so on for vehicle steering system control. These research results are mostly for passenger cars.…”

Section: Introductionmentioning

confidence: 99%

Electric Power Steering System Control Strategy Based on Robust H∞ Control for Electric Forklift

Jiang

Xiao

2018

Mathematical Problems in Engineering

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The dynamic model of the Electric Power Steering (EPS) system for electric forklifts and the two-degree-of-freedom (2DOF) forklift models has been established. Based on the control target of electric forklift EPS, a generalized EPS control model with model perturbation and interference is established. The standard H∞control model of the EPS system is transformed, and the EPS generalized state equation of electric forklift is derived. The principle of robust control with genetic optimization is expounded, aiming at the parameters optimization of the weighted function of H∞control model, the constraint function of the genetic algorithm (GA) is constructed, and the robust controller of genetic optimization is derived. Taking the electric forklift TFC20 as the research object, according to the actual data on the forklift, the system model is established in MATLAB, and the effects of PID control, robust control, and genetic robust control are compared, the results show that the power steering characteristic of the robust control is better than the power steering characteristic of the PID control, and the stability of the forklift under the control of robust control is better. Also, the power steering characteristic of the H∞ controller with GA optimization is better than that of an unoptimized one, and its robustness is better, under external pavement interference, the following ability is stronger for the ideal current and the steering is more stable.

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Design and evaluation of an observer-based disturbance rejection controller for electric power steering systems

Cited by 12 publications

References 32 publications

Archives of Electrical Engineering

Archives of Electrical Engineering

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

Electric Power Steering System Control Strategy Based on Robust H∞ Control for Electric Forklift

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