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Controller design for electric power steering system using T-S fuzzy model approach

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Abstract

Pressure ripples in electric power steering (EPS) systems can be caused by the phase lag between the driver’s steering torque and steer angle, the nonlinear frictions, and the disturbances from road and sensor noise especially during high-frequency maneuvers. This paper investigates the use of the robust fuzzy control method for actively reducing pressure ripples for EPS systems. Remarkable progress on steering maneuverability is achieved. The EPS dynamics is described with an eight-order nonlinear state-space model and approximated by a Takagi-Sugeno (T-S) fuzzy model with time-varying delays and external disturbances. A stabilization approach is then presented for nonlinear time-delay systems through fuzzy state feedback controller in parallel distributed compensation (PDC) structure. The closed-loop stability conditions of EPS system with the fuzzy controller are parameterized in terms of the linear matrix inequality (LMI) problem. Simulations and experiments using the proposed robust fuzzy controller and traditional PID controller have been carried out for EPS systems. Both the simulation and experiment results show that the proposed fuzzy controller can reduce the torque ripples and allow us to have a good steering feeling and stable driving.

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Authors and Affiliations

  1. School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai, 200240, PRC

    Xin Li, Xue-Ping Zhao & Jie Chen

Authors
  1. Xin Li
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  2. Xue-Ping Zhao
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  3. Jie Chen
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Corresponding author

Correspondence to Xin Li.

Additional information

This work was supported Foundation of National Development and Reform Commission of China (No. 2040).

Xin Li received the B. Sc. degree in mechanical manufacturing from Daqing Petroleum University, PRC, in 2000, and the M. Sc. degree in mechanical engineering and mechanical design theory from Jilin University, PRC, in 2004. She is currently a Ph.D. candidate at the Institute of Body Manufacturing Technology Center of Shanghai Jiao Tong University, PRC.

Her research interests include automobile electronic technology especially in the control design of the electric power steering system.

Xue-Ping Zhao received the B. Sc. degree in mechanical manufacturing from Jiangsu Institute of Petrochemical Technology, PRC, in 2000, and the M. Sc. degree in vehicle engineering from Nanjing University of Science & Technology, PRC, in 2004.

He is currently a Ph. D. candidate in the Institute of Body Manufacturing Technology Center of Shanghai Jiao Tong University, PRC. His research interests include automobile electronic technology especially in the control strategy research.

Jie Chen received the Ph.D. degree in vehicle engineering from Jilin University, PRC, in 1997. Currently, he is a professor in the Institute of Body Manufacturing Technology Center of Shanghai Jiao Tong University, PRC.

His research interests include electronics automobiles, hydraulic hybrid vehicle, and special vehicle design.

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Li, X., Zhao, XP. & Chen, J. Controller design for electric power steering system using T-S fuzzy model approach. Int. J. Autom. Comput. 6, 198–203 (2009). https://doi.org/10.1007/s11633-009-0198-0

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  • DOI: https://doi.org/10.1007/s11633-009-0198-0

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