Return Control of Electric Power Steering using Linear Quadratic Regulator
碩士 === 國立臺北科技大學 === 車輛工程系所 === 99 === Friction torque which exists in the steering system might make the steering wheel unable to return to its center position after negotiating a turn. In order to solve this problem, we employed the linear quadratic regulator to design the return control strategy....
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| Format: | Others |
| Language: | zh-TW |
| Published: |
2011
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| Online Access: | http://ndltd.ncl.edu.tw/handle/5pfch3 |
| Summary: | 碩士 === 國立臺北科技大學 === 車輛工程系所 === 99 === Friction torque which exists in the steering system might make the steering
wheel unable to return to its center position after negotiating a turn. In order to
solve this problem, we employed the linear quadratic regulator to design the return
control strategy. A disturbance estimator is designed to estimate the angular
velocity of the steering wheel and the disturbance torque. The angle measurement
and angular velocity estimation are used for full state feedback. The estimated
disturbance torque is used for feedforward compensation. CarSim and the
rotational dynamics of the steering wheel are used to evaluate the performance of
the proposed control. An EPS experimental platform was established for
hardware-in-the-loop verification. Road test is also conducted using a production
vehicle with EPS. Simulation and experimental results show that the proposed
control can not only improve the returnability but also achieving damping
compensation at the same time.
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