Nonlinear Steering Wheel Angle Control Using Self-Aligning Torque with Torque and Angle Sensors for Electrical Power Steering of Lateral Control System in Autonomous Vehicles
Abstract
:1. Introduction
- Nonlinear damping using the self-aligning torque improves the SWA tracking performance and reduces the control input in the backstepping controller.
- An auxiliary state variable prevents using the measured signal derivative in the HGDOB.
- The performance of the proposed method is validated via EPS hardware-in-the-loop (HILS) simulation.
2. EPS System Model
3. High Gain Disturbance Observer
4. Backstepping Control Using Self-Aligning Torque
4.1. Backstepping Controller
4.2. SWA Control Using Self-Aligning Torque
5. Simulations and Experiments
5.1. Simulation Results
5.2. Experimental Results
- Case 1: Control without using the self-aligning torque, i.e.,
- Case 2: Control using the self-aligning torque, i.e., applying (32).
6. Conclusions
Author Contributions
Funding
Conflicts of Interest
Nomenclature
Steering wheel angular position [deg] | |
Desired steering wheel angular position [deg] | |
Steering wheel angular velocity [deg/s] | |
Motor angular position [deg] | |
Motor angular velocity [deg/s] | |
i | Current input of the motor [A] |
T | Input torque of electric power steering system () [N·m] |
Motor torque constant [N·m/A] | |
Driver torque [N·m] | |
Self-aligning torque [N·m] | |
Steering column moment of inertia [Kg·m2] | |
Steering column viscous damping [N·m/(rad/s)] | |
Steering column stiffness [N·m/rad] | |
Mass of the rack [kg] | |
Viscous damping of the rack [N·m/(rad/s)] | |
Steering column pinion radius [m] | |
Tire spring rate [N/m] | |
Motor moment of inertia [kg·m2] | |
Motor shaft viscous damping [N·m/(rad/s)] | |
Longitudinal velocity [Km/h] |
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Kim, W.; Kang, C.M.; Son, Y.-S.; Chung, C.C. Nonlinear Steering Wheel Angle Control Using Self-Aligning Torque with Torque and Angle Sensors for Electrical Power Steering of Lateral Control System in Autonomous Vehicles. Sensors 2018, 18, 4384. https://doi.org/10.3390/s18124384
Kim W, Kang CM, Son Y-S, Chung CC. Nonlinear Steering Wheel Angle Control Using Self-Aligning Torque with Torque and Angle Sensors for Electrical Power Steering of Lateral Control System in Autonomous Vehicles. Sensors. 2018; 18(12):4384. https://doi.org/10.3390/s18124384
Chicago/Turabian StyleKim, Wonhee, Chang Mook Kang, Young-Seop Son, and Chung Choo Chung. 2018. "Nonlinear Steering Wheel Angle Control Using Self-Aligning Torque with Torque and Angle Sensors for Electrical Power Steering of Lateral Control System in Autonomous Vehicles" Sensors 18, no. 12: 4384. https://doi.org/10.3390/s18124384