Title :
Control and steering feel issues in the design of an electric power steering system
Author :
Zaremba, A.T. ; Liubakka, M.K. ; Stuntz, R.M.
Author_Institution :
Automated Analysis Corp., Ann Arbor, MI, USA
Abstract :
We address control and steering feel issues in the development of electric power assist steering (EPAS) systems. The steering system performance requirements impose natural constraints on the compensator gain, phase lag over a frequency range of driver inputs, and pole and zero locations. We develop a novel method based on a nonlinear constrained optimization procedure for fixed-structure optimal controller synthesis for EPAS. The control law obtained minimizes an objective function (H2-norm) for a given controller structure, while accounting for requirements of steering torque amplification, steering response and steering feel
Keywords :
automobiles; compensation; feedback; man-machine systems; optimal control; optimisation; pole assignment; position control; torque control; zero assignment; automobiles; compensator gain; electric power assist steering; feedback; nonlinear constrained optimization; objective function; optimal control; phase lag; pole locations; steering control; steering feel; steering response; torque amplification; zero locations; Control system synthesis; Control systems; Mathematical model; Performance gain; Power steering; Power system modeling; Steering systems; Torque control; Vehicle driving; Vehicle dynamics;
Conference_Titel :
American Control Conference, 1998. Proceedings of the 1998
Conference_Location :
Philadelphia, PA
Print_ISBN :
0-7803-4530-4
DOI :
10.1109/ACC.1998.694623