2213 路面反力推定を用いた電動パワーステアリングによる車両安定化制御の開発(システム同定・解析II,OS3 交通・物流システムのダイナミクスと制御,一般講演)

Abstract

This paper proposes an advanced control strategy to improve steering maneuverability both on emergency steering and on slippery roads, with the Torque Controlled Active Steering, which means Electric Power Steering with advanced control method. This controller which is constructed based on self-aligning torque estimation and feedback compensation, aims to improve returnability by using the self-aligning torque estimator, that is applicable in various situations. We experiment with this control strategy and it confirms that our controller improves vehicle dynamics stability.