Abstract
We focus on the antivibration controller design problem for electrical power steering (EPS) systems. The EPS system has significant advantages over the traditional hydraulic steering system. However, the improper motor controller design would lead to the steering wheel vibration. Therefore, it is necessary to investigate the antivibration control strategy. For the implementation study, we also present the motor driver design and the software design which is used to monitor the sensors and the control signal. Based on the investigation on the regular assistant algorithm, we summarize the difficulties and problems encountered by the regular algorithm. After that, in order to improve the performance of antivibration and the human-like steering feeling, we propose a new assistant strategy for the EPS. The experiment results of the bench test illustrate the effectiveness and flexibility of the proposed control strategy. Compared with the regular controller, the proposed antivibration control reduces the vibration of the steering wheel a lot.
Highlights
The electrical power steering (EPS) system has attracted a lot of attention in the past few years [1,2,3] due to the significant advantages over the traditional mechanical steering system
We focus on the antivibration controller design problem for electrical power steering (EPS) systems
Compared with the traditional one, the EPS system can reduce the force exerted on the steering wheel by drivers, and the assistant force can vary according to the vehicle speed
Summary
The electrical power steering (EPS) system has attracted a lot of attention in the past few years [1,2,3] due to the significant advantages over the traditional mechanical steering system. The robust controller design work is to reduce the steering torque exerted by a driver as well as to achieve good steering feel when the system is subject to external disturbances and unavoidable system uncertainties. Both the computer simulation and frequencydomain analyses show the robustness and compensation stability of the ADRC controlled system. The simulation results verify that the designed nonlinear SMC and SMO strategies can reduce the torque ripple to achieve a better steering feeling. In [14], a new active disturbance rejection control is proposed for an electric power assist steering system, while in [15] genetic algorithm based PID controller is designed for the EPS system. The control algorithm will be verified by an experiment
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