Inertia Compensation of EPS Based on Kalman Filtering
The dynamic performance of an electric power steering system (EPS) is deteriorated by the inertia of assistant motor embodied in EPS. To compensate the effect of motor inertia and improve the dynamic performance of EPS, the angular acceleration of the motor rotor is needed. However, the angular acceleration cannot be derived by differentiating the rotor angle signal of the permanent magnet synchronous motor (PMSM) directly, for the noise will be amplified. This paper attempts to get motor angular acceleration signal through Kalman filtering method and the angular acceleration signal acquired by this method is calibrated with high precision encoder, furthermore, the signal is verified though simulation and experiment of inertia compensation control. All the calibration results and simulation and experiment results of inertia compensation control show that the angular acceleration acquired through Kalman filtering method is available for the realization of motor inertia compensation control and can achieve the purpose of improving the dynamic performance of the steering system.
X. W. Ji et al., "Inertia Compensation of EPS Based on Kalman Filtering", Advanced Materials Research, Vols. 588-589, pp. 509-512, 2012