3111 外乱オブザーバによる電動パワーステアリングの振動低減(OS3-4 振動,騒音,乗り心地の制御,OS3 交通・物流システムの制御,オーガナイズド・セッション)

概要

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This paper presents a new motor current control strategy for Electric Power Steering (EPS) to reduce current fluctuation. Such current fluctuation may cause undesirable steering torque ripple and acoustic noise, if an inexpensive microprocessor is used. Using a DC-motor, current fluctuation associated with change in the battery voltage, etc., may occur. We have developed a new current control strategy which effectively alleviates current fluctuations of the motor without using higher performance microprocessors. The new controller is based on the newly proposed disturbance observer with phase compensator to estimate the disturbance voltage and compensation for it. We have analyzed the sensitivity to the disturbance, that is to say, the transfer function from disturbance to electric current and show that by using high pass filter, the transfer function has the notch filter characteristics against disturbance without causing change in transfer function from reference current to actual current. We have bench-tested the performance of this control strategy and confirmed that current fluctuation is reduced to coincide with the analytical result.
2008-12-09