Abstract
In this paper, we propose an electric power steering (EPS) controller based on discrete-time sliding mode control theory. In previous studies, most control logics were developed based on continuous times. However, most vehicle chassis models used in these controllers are based on discrete times. As a result, these control logics require model discretization to be implemented in embedded systems for practical uses which causes time and resource consuming. To overcome this disadvantage, in this study, we designed a discrete-time-based control logic which does not require the model discretization. The performance of the proposed control logic was first verified in the simulation in the loop system environment with MATLAB/Simulink and CarSim. Thereafter, actual vehicle experiments were conducted to demonstrate that the performance of the controller is still valid in real vehicle experiments and the proposed logic is executable on a rapid proto typing system.
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Abbreviations
- J c :
-
column inertia, kg-m2
- B c :
-
column viscous damping, Nm/(rad/s)
- K c :
-
column stiffness, Nm/rad
- J m :
-
motor inertia, kg-m2
- B m :
-
motor viscous damping, Nm/(rad/s)
- K t :
-
motor constant, Nm/A
- M r :
-
mass of rack, m
- B r :
-
viscous damping of rack, Nm/(rad/s)
- K r :
-
tire spring rate, N/m
- R p :
-
pinion radius, m
- F c :
-
steering column friction, N·m
- F m :
-
motor friction, N·m
- N :
-
motor gear ratio
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Acknowledgement
This study was conducted with research funding support from the Republic of Korea the Ministry of Land Infrastructure and Transport and Korea Agency Infrastructure Technology Advancement (20PQOW-B152473-02).
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Kim, S., Choi, M. & Sung, J. Experimental Verifications of Electric Power Steering Controller Based on Discrete-Time Sliding Mode Control with Disturbance Observer. Int.J Automot. Technol. 24, 883–888 (2023). https://doi.org/10.1007/s12239-023-0072-z
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DOI: https://doi.org/10.1007/s12239-023-0072-z