Title :
Driver torque and road reaction force estimation of an Electric Power Assisted Steering using sliding mode observer with unknown inputs
Author :
Marouf, A. ; Djemaï, M. ; Sentouh, C. ; Pudlo, P.
Author_Institution :
Univ. Lille Nord de France, Lille, France
Abstract :
Driver torque and steering reaction force are important information in the designing of EPAS (Electric Power Assisted Steering) system. The driver torque determines the amount of assisted torque and the reaction force can be used to improve the steering feeling and the vehicle stability or introduce a new assist torque control. Since, in practice, they are not usually measureable; a sliding mode observer with unknown inputs is introduced to estimate the driver torque and the road reaction force of an EPAS system by using other measured signals which are normally available. A state space formulation for EPAS system with brushed motor is used for the synthesis of observer with unknown inputs. The proposed observer is applied to state and unknown input estimation of EPAS. Simulation results demonstrate the effectiveness of the proposed observer which improves the EPAS system performance and also reduces system cost and complexity.
Keywords :
electric vehicles; estimation theory; observers; road vehicles; stability; state-space methods; steering systems; torque control; variable structure systems; EPAS system; brushed motor; driver torque; electric power assisted steering; road reaction force estimation; sliding mode observer; state space formulation; torque control; unknown input estimation; vehicle stability; Driver circuits; Force; Mathematical model; Observers; Roads; Torque;
Conference_Titel :
Intelligent Transportation Systems (ITSC), 2010 13th International IEEE Conference on
Conference_Location :
Funchal
Print_ISBN :
978-1-4244-7657-2
DOI :
10.1109/ITSC.2010.5625043