外乱オブザーバを用いた電動パワーステアリングによる操舵/車両応答特性の向上(機械力学,計測,自動制御)

概要

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Electric power assist steering (EPAS) is popular in the market due to its superior fuel economy. The electric motor inertia, friction and their fluctuations of EPAS, however, often deteriorate steering characteristics and vehicle dynamics. Elaborate parameter tuning for assist torque control based on vehicle velocity and steering wheel velocity has been made to improve them, but it is still difficult to achieve good performances in various driving situations such as load condition, road surface friction and gradual vehicle characteristics change due to time. In this paper, a feedback strategy applying the disturbance observer, "steering velocity observer", is proposed to compensate for the adverse influences of vehicle mass change. The satisfactory effects of the proposed control strategy are observed through the simulation and field tests by using a prototype vehicle with a pinion type EPAS.
2004-10-25