Abstract
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.
Highlights
Electric Power Steering (EPS) system is a kind of power steering system is which widely used in the field of vehicles; the system helps the driver to complete the steering movement by providing appropriate power and controlling the motor through the electronic control unit, in order to improve the steering performance of the vehicle
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
“Wonhee Kim et al.” [3] presented robust steering angle control of electric power steering of vehicle automatic lane keeping system based on moment superposition; this method includes an enhanced observer and a nonlinear damping controller, and the effectiveness of the control method was verified by a test car
Summary
EPS system is a kind of power steering system is which widely used in the field of vehicles; the system helps the driver to complete the steering movement by providing appropriate power and controlling the motor through the electronic control unit, in order to improve the steering performance of the vehicle. “Fan L et al.” [1] proposed that considering the EPS control strategy of tire-road friction, the steering system model, nonlinear vehicle dynamics model, and tire model are developed under MATLAB/Simulink. Simulation results show that the new EPS-assisted control strategy can improve the steering efficiency under sliding condition. “Wonhee Kim et al.” [3] presented robust steering angle control of electric power steering of vehicle automatic lane keeping system based on moment superposition; this method includes an enhanced observer and a nonlinear damping controller, and the effectiveness of the control method was verified by a test car. “Dongwook Lee et al.” [4] designed a nonlinear torque diagram, which reflects the mapping relationship between driver torque and power motor torque and vehicle speed. The design criteria of a stabilizing compensator are proposed. “Gong J Q et al” [5] proposed that based on particle swarm optimization of heavy truck EPS
Sign-in/Register to view highlights & summary Sign-in/Register to access full text options 
Free) 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a call
