In this study, a compliant control strategy is developed, which makes the application of position based control strategies practicable for electric power assisted steering (EPAS) systems. In order to do this, an additional virtual degree of freedom is added to the system, which is stimulated by the torque exerted on the steering wheel by the driver and the pinion position. The electro-actuator modeled on the second pinion of the steering gear is then commanded to position the pinion to the virtual system position using a traditional position control strategy. This strategy proposed in this study lets the selection of 5 parameters, which are the desired inertia, damping, and stiffness of the virtual system and position and velocity gains of the PD controller. These parameters may be defined as functions of vehicle and steering system states. Thus, a compliance behavior is established that can be varied depending on the vehicle states and environmental conditions to improve the vehicle dynamics and safety of the passenger.
Compliant control of electric power assisted steering systems
Nachgiebige Regelung elektrischer Lenkhilfen
2005
10 Seiten, 13 Bilder, 4 Tabellen, 10 Quellen
Aufsatz (Konferenz)
Englisch
Compliant Control of Electric Power Assisted Steering Systems
SAE Technical Papers | 2005
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BASE | 2009
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British Library Conference Proceedings | 2005
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