Design of Anti-Disturbance H∞ Controller of Automotive Electric Power Steering System

Abstract:

Automotive EPS controller is easy to be affected by the parameter perturbations, road agitations, sensor noises and the lateral wind disturbance in the process of vehicle operation. These uncertainties affect the accuracy of assist current, the EPS performance and the driving safety. The mathematical model of EPS system was established including the internal uncertainty and external disturbance. The LFT linear fractional transform representing model and M matrix with stripped uncertainty were designed. The robust H∞ controller and weight function were designed according to the H∞ control theory and performance indexes of EPS system. The comparative performance with PD controller was made. The results showed that the H∞ controller had better robustness and robust stability than the PD controller. It also had great anti-disturbance performance to satisfy the performance requirements of EPS system.

• Periodical: Applied Mechanics and Materials (Volume 39)
• Pages: 277-283
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.39.277
• Online since: November 2010
• Authors: Guo Qing Geng, Chen Long, Jing Bo Zhao
• Keywords: Anti-Disturbance, Automobile, Electric Power Steering (EPS), H∞ Controller

References

[1] Zhao, JB, Chen, L and Jiang, HB: Design and full-car tests of electric power steering system . Computer and computing technologies in agriculture. Vol. 258 (2008), pp.729-736.

DOI: 10.1007/978-0-387-77251-6_80

[2] Kim Ji-Hoon, Song Jae-Bok: Control Logic for an Electric Power Steering System Using Assist Motor. Mechatronics. Vol. 12 (2002), p.447~459.

DOI: 10.1016/s0957-4158(01)00004-6

[3] Wu Wenjiang, Du Yanliang and Ji Xuewu: A simulation on resistance to disturbance for Electric Power Steering control system. Automotive Engineering. Vol. 25, (2003), p.364~366.

[4] Wang Qirui, Chen Wuwei and Huang Senren: A study on H∞ control for automotive Electric Power Steering System. Automotive Engineering. Vol. 26 (2004), p.609~612.

[5] Jiang Hao-Bin, Zhao Jing-Bo and Chen Long: A new EPS control strategy based on feedback of yaw rate and lateral acceleration. Proceedings-Workshop on Intelligent Information Technology Application. (2007), pp.177-180.

DOI: 10.1109/iita.2007.22

[6] Rankan C. Chabaan. H-infinity control design and gain scheduling of Electrical Power Assist Steering Systems to improve system robustness and stability. Paper for Doctor of Philosophy. (2000).

[7] WANG Xiao-feng, WANG Li-mei and KANG Rui. The generalized plant model description and the robust control design for parameter uncertain system. Electric Machines and Control. Vol. 6 (2002), pp.56-59.