車両運動特性を考慮した電動パワーステアリング制御の設計手法(機械力学,計測,自動制御)

概要

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In this paper, we propose a new Electric Power Steering (EPS) control and its design method. This control enables to transmit a vehicle motion information to a driver through a steering wheel. First, kinetic equations including characteristics of both EPS system and vehicle lateral motion are shown. Control-design policies are then derived from the frequency responses and the step responses of the vehicle equipped with EPS. In particular we regard the vehicle motion which is caused by a disorder of a lateral force balance between front and rear wheels as an important information that should be transmitted to a driver. A generallized plant is designed based on those equations and policies, and II infinity controller is calcurated from it. Finally, its effectivenesses are shown by vehicle experimental results.
2006-07-25