Abstract
Active front steering (AFS) system has been used as a promising technology which improves the steering portability and handing stability of vehicles. It employs a steering motor to realize the functions of variable steering ratio and vehicle stability control. However, it has a serious problem of unexpected reaction hand wheel torque caused by the additional steering angle. In this paper, the optimum hand wheel torque is designed based on the linear tire model. Considering the uncertainty and disturbance of the steering system and vehicle, an H ∞ controller is developed to make sure the hand wheel torque follows the reference torque accurately and quickly. The simulation shows that the proposed controller can compensate the unnatural reaction torque and provide a good steering feel for the driver.
Similar content being viewed by others
References
Zhao W Z, Lin Y, Wei J W, et al. Control strategy of a novel electric power steering system integrated with active front steering function. Sci China Tech Sci, 2011, 54: 1515–1520
Ohara H, Murakami T. A stability control by active angle control of front-wheel in a vehicle system. IEEE T Ind Electron, 2008, 33: 1277–1285
Minaki R, Hori Y. Experimental verification of driver-friendly reactive torque control based on driver sensitivity to active front steering. In: Industrial Electronics, 2009. IECON’09. 35th Annual Conference of IEEE. Porto, 2009. 3077–3082
Noh T, Kim J, Choi J, et al. A control strategy to compensate the reaction torque of active front steering system. SAE Technical Paper 2007-01-3659. 2007
Sugita S, Tomizuka M. Cancellation of unnatural reaction torque in variable-gear-ratio. J Dyn Sys, Meas, Control, 2012, 134: 021019-1–021019-10
Jonas M. Torque neutrality for active steering systems. J Dyn Sys Meas Control, 2012, 134: 051015-1–051015-6
Kim J H, Song J B. Control logic for an electric power steering system using assist motor. Mechatronics, 2002, 12: 447–459
Dannöhl C, Müller S, Ulbrich H. H ∞-control of a rack-assisted electric power steering system. Vehicle Syst Dyn, 2012, 50: 527–544
Zhao W Z, Li Y J, Wang C Y, et al. H ∞ control of novel active steering integrated with electric power steering function. J Cent South Univ, 2013, 20: 2151–2157
Karaivanov D, Troha S, Ralitsa P. Investigation into self-locking planetary gear trains through the lever analogy. T Famena, 2012, 36: 13–24
Liu Y H, Ji X W. Matching strategy of electric power steering assistant characters based on the vehicle inherent road feel. Proc Inst Mech Eng D J Automob Eng, 2011, 255: 1481–1491
Bertollini G, Hogan R. Applying driving simulation to quantify steering effort preference as a function of vehicle speed. SAE Technical Paper 1999-01-0394. 1999
Zhou K, Doyle J C. Essentials of Robust Control. Upper Saddle River, NJ: Prentice Hall, 1997. 137–138
Author information
Authors and Affiliations
Corresponding author
Additional information
These authors contributed equally to this work
Rights and permissions
About this article
Cite this article
Zhao, W., Li, Y. & Wang, C. Robust control of hand wheel torque for active front steering system. Sci. China Technol. Sci. 58, 107–116 (2015). https://doi.org/10.1007/s11431-014-5721-z
Received:
Accepted:
Published:
Issue Date:
DOI: https://doi.org/10.1007/s11431-014-5721-z