This content is not included in your SAE MOBILUS subscription, or you are not logged in.
A Development of the Model Based Torque Feedback Control with Disturbance Observer for Electric Power Steering System
ISSN: 0148-7191, e-ISSN: 2688-3627
Published April 02, 2019 by SAE International in United States
This content contains downloadable datasetsAnnotation ability available
Electric Power Steering (EPS) needs to meet both functional and stability requirements, it plays significant role in controlling vehicle motion. In the meantime, customers emphasizes natural steering feel which can reflect vehicle motion and road surface information while isolate unwanted external disturbances. In general, conventional EPS control algorithms exert assist torque according to driver torque measured from torque sensor, while maintaining stability using stabilizing compensator. However, there exist significant trade-off between steering feel and stability, because the performances of assist torque control and stabilizing compensator are strongly coupled. In this paper a torque feedback control algorithm for EPS system is proposed in order to overcome the trade-off, and to achieve more natural, robust steering feel. The torque feedback algorithm consists of two main components; target torque generator, target torque following controller which can decouple steering feel and stability control performances. Target torque generator defines desired driver torque based on estimated road reaction torque; the road reaction torque estimation is carried out using EPS system dynamics model. Target torque following controller based on lead-lag compensator controls motor torque to achieve desired driver torque, while maintaining overall control stability. Disturbance observer (DOB) is introduced to improve target torque following performance and control robustness against unwanted external disturbances. Subjective assessment and objective measurement of vehicle steering performance shows that proposed algorithm can achieve natural steering feel and it can efficiently feedback vehicle driving condition such as road surface information.
CitationLee, D., Lo, Y., Han, M., Kim, K. et al., "A Development of the Model Based Torque Feedback Control with Disturbance Observer for Electric Power Steering System," SAE Technical Paper 2019-01-1233, 2019, https://doi.org/10.4271/2019-01-1233.
Data Sets - Support Documents
|[Unnamed Dataset 1]|
- Burton, A.W., “Innovation Drivers for Electric Power-Assisted Steering,” IEEE Control System Magazine 23:30-39, 2003.
- Zaremba, A. and Davis, R.I., “Dynamic Analysis and Stability of a Power Assist Steering System,” in American Control Conference, Proceedings of the 1995, 1995, 6, IEEE.
- Yun, S.C., Cho, N.G., and Han, C.-S., “A Simulation Study of the Control Algorithm for a Ball Screw Type Motor-Driven Power Steering System,” Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering 216(1):11-22, 2002.
- Lee, M.H., Ha, S.K., Choi, J.Y., and Yoon, K.S., “Improvement of the Steering Feel of an Electric Power Steering System by Torque Map Modification,” J. Mech. Sci. Technol. 19(3):792-801, 2005.
- Sugitani, N., Fujuwara, Y., Uchida, K., and Fujita, M., “Electric Power Steering with H-Infinity Control Designed to Obtain Road Information”, in Proc. Amer. Control Conf. , Jun. 1997, 5, 2935-2939.
- Marouf, A., Sentouh, C., Djemai, M., and Pudlo, P., “Control of Electric Power Assisted Steering System Using Sliding Mode Control”, in Proc. 14th Int. IEEE Conf. Intell. Transp. Syst. (ITSC), Oct. 2011, 107-112.
- Zaremba, A.T., Liubakka, M.K., and Stuntz, R.M., “Control and Steering Feel Issues in the Design of an Electric Power Steering System”, in Proc. Amer. Control Conf. , Jun. 1998, 1, 36-40.
- Chabaan, R.C. and Wang, L.Y., “Control of Electrical Power Assist System: H∞Design, Torque Estimation and Structural Stability,” JSAE Rev. 22(4):435-444, 2001.
- Lee, D.W., Kim, K.S., and Kim, S.H., “Controller Design of an Electric Power Steering System,” IEEE Transactions on Control Systems Technology 26:748-755, 2018.
- Williams, A.J.S., Jones, R.W., Burton, A.W., Stevens, S.D., et al., “Method and Apparatus for Controlling an Electric Powered Assisted Steering System Using an Adaptive Blending Torque Filter,” U.S. Patent, 2003.
- Collier-Hallman, S.J., and Kleinau, J.A., “Closed-Loop Torque Control for Electric Power Steering,” U.S. Patent, 1993.
- Gruner, S., Gaedke, A., Hsu, H., and Harrer, M., “The New EPSapa in the Porsche 911 - Innovative Control Concept for a Sports Car Typical Steering Feel”, in Chassis. Tech Plus, 3rd International Munich Chassis Symposium, 2012, 457-469.
- Williams, D.E., “Synthetic Torque Feedback to Improve Heavy Vehicle Drivability,” Proc. IMechE, Part D: J. Automobile Engineering 223:1517-1527, 2009.
- Brocker, M., “New Control Algorithms for Steering Feel Improvements of an Electric Powered Steering System with Belt Drive,” Vehicle System Dynamics 759-769, 2006.