scholarly journals EPS System of Tractor Automatic Driving: An Improved LMI with Mixed Sensitivity Control Method

2021 ◽  
Vol 2021 ◽  
pp. 1-13
Author(s):  
Huanxiao Pang ◽  
Guangfei Xu ◽  
Zhicai Song ◽  
Dianbao Zhao ◽  
Wenjun Wang ◽  
...  
Keyword(s):  
Control Method ◽  
Design Method ◽  
Tracking Performance ◽  
Disturbance Attenuation ◽  
Robust Controller ◽  
Electric Power Steering ◽  
Automatic Driving ◽  
Power Steering ◽  
Operation Stability ◽  
Sensitivity Operator

Electric power steering (EPS) is widely used in tractor automatic driving because of its good operation stability. However, there is a lack of research about solving robust problems and response ability simultaneously when the tractor encounters emergency steering in harsh fields. The traditional robust controller has poor tracking performance and antidisturbance ability when encountering emergency steering. This paper proposes to add the corresponding mixed sensitivity operator to the corresponding performance index in the controller. By adjusting the amplitude of the mixed sensitivity operator, the tracking performance and the speed of disturbance attenuation can be both adjusted for the tractor EPS system. Simulation and hardware in the loop experiments verify the antidisturbance ability of the controller and the torque tracking performance. The results show that the control method has strong robustness and robust stability, which can meet the practical requirements. Also, the power steering characteristic of the H∞ controller with hybrid sensitivity design method is better than that of an unoptimized one, and its robustness is better, and under external pavement interference, the following ability is stronger for the ideal hand torque and the steering is more stable.

A Comprehensive Mechatronic Modeling and Simulation of Electric Power Steering System

2011 ◽  
Vol 48-49 ◽  
pp. 9-16
Author(s):  
Hamed Rezaei ◽  
Houman Sadjadian
Keyword(s):  
Electric Power ◽  
Control Method ◽  
Cost Savings ◽  
Steering System ◽  
Specific Aspect ◽  
Complete Analysis ◽  
Electric Power Steering ◽  
Power Steering ◽  
Electric Power Steering System ◽  
Hydraulic Power Steering

Electric power steering (EPS) systems are rapidly replacing existing traditional hydraulic power steering systems due to their important advantages such as fuel and cost savings, environmental compatibility and flexibility. Many articles are available in this field in which EPS is viewed only from one specific aspect. Other aspects have been introduced only by brief equations neglecting some main details regarding the important effects of ignored parts. Therefore, it is quite necessary to make a complete analysis of every part of this system with a right combination between them. It makes a comprehensive simulation system for EPS. This matter needs sufficient knowledge in mechanical, electrical and control sciences and how to assemble them with each other properly. Therefore, Mechatronic is the most appropriate branch of science to achieve this goal. In this paper, a complete model of EPS is presented which includes a 7-D.O.F mechanical model of steering system. A Permanent Magnet Synchronous Machine (PMSM) is used to supply the assist torque to steering column. Vector Control Method is utilized for controlling the motor. A PID controller determines the reference assist torque value. The results are presented to estimate the model precision and evaluation of model.

Research on Assistance Control Algorithm for Electric Power Steering System Based on Robust Control Theory

2013 ◽  
Vol 655-657 ◽  
pp. 1397-1402
Author(s):  
Chao Ying Liu ◽  
Wen Jiang Wu ◽  
Zhan Zhong Wang ◽  
Zhan Feng Gao
Keyword(s):  
Robust Control ◽  
Electric Power ◽  
Control Algorithm ◽  
Steering System ◽  
Robust Controller ◽  
Electric Power Steering ◽  
Power Steering System ◽  
The Road ◽  
Power Steering ◽  
Electric Power Steering System

Assistance control is an important control model of electric power steering system. When designing assistance control algorithm, we should not only consider the handiness and stability of steering, but also think of the assistance stability and disturbance resistance from the road surface. In order to improve the overall performance of electric power steering, robust control theory is applied to develop the assistance control algorithm. Based on the above, a robust controller was designed. The influences of the assistance torque deviation and the road surface disturbance on steering were selected as the controlled output. Then the designed controller was tested on electric power steering test bed. The test results show that the robust controller is of better assistant performance than traditional PID controller.

Research on Sensor Fault-Tolerant Control Based on Riccati Equation for Electric Power Steering

2011 ◽  
Vol 464 ◽  
pp. 86-89 ◽  
Author(s):  
Da Chong Wang ◽  
Chen Long ◽  
Chen Huang
Keyword(s):  
Electric Power ◽  
Riccati Equation ◽  
Fault Tolerant ◽  
Design Method ◽  
Continuous System ◽  
Fault Tolerant Control ◽  
Sensor Faults ◽  
Sensor Failure ◽  
Electric Power Steering ◽  
Power Steering

In order to ensure the safe and reliable operation of electric power steering(eps) system,the fault-tolerant control theory is used to design the feedback control for eps system and the control rule for sensor failure in the linear continuous system is described.On the basis of riccati equation,the design method and steps of fault-tolerant controller are given from the view of optimal control.By taking electric power steering of a certain mini car as research object,the simulation calculation is carried out.By applying such fault-tolerant controller for the eps system,the simulation results show that the system has no sensitiveness to the sensor faults,and the method can satisfy the demand of fault-tolerant control.

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