EPS Current Tracking Method Research Based on Hybrid Sensitivity H∞ Control Algorithm

For electric power steering system (EPS), road interference, noise of the sensor, and the uncertainty of the steering system may make EPS control effect and the driver's road sense worse. EPS system which takes advantage of good current tracking ability, good anti-interference ability, and good...

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Main Authors: Hairong Wu, Guangfei Xu, Jian Wu, Xue Han, Jiwei Feng, Shifu Liu, Linglong Bu
Format: Article
Language:English
Published: Hindawi Limited 2018-01-01
Series:Journal of Electrical and Computer Engineering
Online Access:http://dx.doi.org/10.1155/2018/2156980
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spelling doaj-afe9b2b61d114dc0b4f7a702dc7f8b932021-07-02T07:02:49ZengHindawi LimitedJournal of Electrical and Computer Engineering2090-01472090-01552018-01-01201810.1155/2018/21569802156980EPS Current Tracking Method Research Based on Hybrid Sensitivity H∞ Control AlgorithmHairong Wu0Guangfei Xu1Jian Wu2Xue Han3Jiwei Feng4Shifu Liu5Linglong Bu6School of Mechanical and Automotive Engineering, Liaocheng University, Liaocheng City, Shandong Province 252000, ChinaSchool of Mechanical and Automotive Engineering, Liaocheng University, Liaocheng City, Shandong Province 252000, ChinaSchool of Mechanical and Automotive Engineering, Liaocheng University, Liaocheng City, Shandong Province 252000, ChinaEconomic & Technology Research Institute, State Grid Shandong Electric Power Company, Jinan City, Shandong Province 250000, ChinaSchool of Mechanical and Automotive Engineering, Liaocheng University, Liaocheng City, Shandong Province 252000, ChinaSchool of Mechanical and Automotive Engineering, Liaocheng University, Liaocheng City, Shandong Province 252000, ChinaModern Agricultural Demonstration Garden, Liaocheng Academy of Agricultural Sciences, Liaocheng City, Shandong Province 252000, ChinaFor electric power steering system (EPS), road interference, noise of the sensor, and the uncertainty of the steering system may make EPS control effect and the driver's road sense worse. EPS system which takes advantage of good current tracking ability, good anti-interference ability, and good operation stability is becoming more and more important in automotive research. The traditional H∞ control algorithm can solve the system uncertainty theoretically, but it cannot solve the contradiction between robustness and performance without considering the performance of the system. Therefore, this paper proposes a EPS current tracking method based on the hybrid sensitivity H∞ control algorithm, which takes the current tracking performance as one of the control objectives, so that the system can maximize the robustness and performance. Firstly, the dynamic model of EPS is established. Then, the two-degree-of-freedom vehicle model and tire model are introduced. The state space equation of the system is constructed on the basis of the system state space with random disturbance signals, the hybrid sensitivity H∞ controller is designed in the sensitivity index design, and the proposed algorithm can use weighting function to minimize the performance of the current tracking error as well as the robustness of the yaw rate error in response to robustness. Simulation analysis and experimental verification of EPS system are also carried out. The results show that the control method of the hybrid sensitivity H∞ can better achieve EPS target current tracking, effectively suppress the effect of external interference and noise, improve the system performance and robustness, ensure the driver get good road sense, and improve the system of steering stability.http://dx.doi.org/10.1155/2018/2156980
collection DOAJ
language English
format Article
sources DOAJ
author Hairong Wu
Guangfei Xu
Jian Wu
Xue Han
Jiwei Feng
Shifu Liu
Linglong Bu
spellingShingle Hairong Wu
Guangfei Xu
Jian Wu
Xue Han
Jiwei Feng
Shifu Liu
Linglong Bu
EPS Current Tracking Method Research Based on Hybrid Sensitivity H∞ Control Algorithm
Journal of Electrical and Computer Engineering
author_facet Hairong Wu
Guangfei Xu
Jian Wu
Xue Han
Jiwei Feng
Shifu Liu
Linglong Bu
author_sort Hairong Wu
title EPS Current Tracking Method Research Based on Hybrid Sensitivity H∞ Control Algorithm
title_short EPS Current Tracking Method Research Based on Hybrid Sensitivity H∞ Control Algorithm
title_full EPS Current Tracking Method Research Based on Hybrid Sensitivity H∞ Control Algorithm
title_fullStr EPS Current Tracking Method Research Based on Hybrid Sensitivity H∞ Control Algorithm
title_full_unstemmed EPS Current Tracking Method Research Based on Hybrid Sensitivity H∞ Control Algorithm
title_sort eps current tracking method research based on hybrid sensitivity h∞ control algorithm
publisher Hindawi Limited
series Journal of Electrical and Computer Engineering
issn 2090-0147
2090-0155
publishDate 2018-01-01
description For electric power steering system (EPS), road interference, noise of the sensor, and the uncertainty of the steering system may make EPS control effect and the driver's road sense worse. EPS system which takes advantage of good current tracking ability, good anti-interference ability, and good operation stability is becoming more and more important in automotive research. The traditional H∞ control algorithm can solve the system uncertainty theoretically, but it cannot solve the contradiction between robustness and performance without considering the performance of the system. Therefore, this paper proposes a EPS current tracking method based on the hybrid sensitivity H∞ control algorithm, which takes the current tracking performance as one of the control objectives, so that the system can maximize the robustness and performance. Firstly, the dynamic model of EPS is established. Then, the two-degree-of-freedom vehicle model and tire model are introduced. The state space equation of the system is constructed on the basis of the system state space with random disturbance signals, the hybrid sensitivity H∞ controller is designed in the sensitivity index design, and the proposed algorithm can use weighting function to minimize the performance of the current tracking error as well as the robustness of the yaw rate error in response to robustness. Simulation analysis and experimental verification of EPS system are also carried out. The results show that the control method of the hybrid sensitivity H∞ can better achieve EPS target current tracking, effectively suppress the effect of external interference and noise, improve the system performance and robustness, ensure the driver get good road sense, and improve the system of steering stability.
url http://dx.doi.org/10.1155/2018/2156980
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