Technical solutions are described for disturbance feedforward compensation technique for improving the disturbance rejection properties of a closed loop position control system using a cascaded control structure with an inner velocity and outer position control loops. According to one or more embodiments, a system includes a position controller that receives an input rack-position command, and a measured rack-position, and computes a velocity command based on a difference in the input rack-position command and the measured rack-position. The system further includes a velocity controller that receives the velocity command, and a measured motor velocity, and computes an input torque command based on a difference in the velocity command and the measured motor velocity. The system adjusts a position of a rack by generating an amount of torque corresponding to the applying the input torque command to a motor.


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    Title :

    CASCADED POSITION CONTROL ARCHITECTURE FOR STEERING SYSTEMS


    Contributors:

    Publication date :

    2019-10-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge



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