Abstract For the control of electric steering systems, there is still a need for a robust implementation due to unconsidered degrees of freedom, nonlinear spring stiffnesses and gear ratios. Therefore, this article describes the modeling, control design and system analysis of an electric power steering system. It is focused on the degree of robustness of the possible controls. Two LQG-controllers are designed which are able to perform active vibration damping and disturbance compensation. This allows a high control bandwidth. Both resulting control systems are robust against unconsidered degrees of freedom, nonlinear system behavior and variations of plant parameters. Thus, the presented controllers fulfill the requirements of a modern steering system and allow the adaptation of the steering feel to the current driving situation.
Robust control for electric power steering with unconsidered modes and parameter uncertainties
2019-11-02
15 pages
Article/Chapter (Book)
Electronic Resource
English
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