Fast fault-tolerant control of electric power steering systems in the presence of actuator fault

Allous, Manel; Mrabet, Kais; Zanzouri, Nadia

doi:10.1177/0954407018816556

Cited by 7 publications

(2 citation statements)

References 18 publications

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“…This problem could be solved using the two-loop algorithm (the torque loop and current loop) in reference [48]. Some nonlinear control methods for EPS systems should be found in references [49][50][51][52][53].…”

Section: Introductionmentioning

confidence: 99%

Proposing a BSPID Control Strategy Considering External Disturbances for Electric Power Steering (EPS) Systems

Nguyen,

Nguyen

2023

IEEE Access

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EPS systems provide superior efficiency compared to conventional mechanical steering systems. Steering feel and comfort are supported by an electric motor, which is controlled by an appropriate controller. This article introduces an integrated control algorithm for EPS system control with two novel contributions. Firstly, this algorithm is synthesized based on a backstepping (BS) controller and a proportional integral derivative (PID) controller, called the BSPID controller. The control signals are amplified based on optimal coefficients determined by the loop algorithm. Secondly, a complex steering dynamics model is established based on five state variables that consider the influence of road reaction torque and other external disturbances. The performance of the control algorithm is evaluated through simulation at the MATLAB-Simulink interface. According to the numerical simulation results, the value of the steering motor and steering column angles increases when using the EPS system instead of the conventional mechanical steering system. Under the same driver torque conditions, the variation of output parameters will decrease as the speed increases based on the assisted torque map. On the contrary, the change in output parameters will increase sharply when driver torque increases (under the same speed conditions). The results obtained from the BSPID signal always closely track the reference signal in all investigated conditions with negligible errors, even though the steering system is still subject to external random disturbances. Generally, stability is guaranteed once the BSPID integrated algorithm is applied to control the EPS system.

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Section: Introductionmentioning

confidence: 99%

Proposing a BSPID Control Strategy Considering External Disturbances for Electric Power Steering (EPS) Systems

Nguyen,

Nguyen

2023

IEEE Access

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“…For example, in Hayama et al, 9 a fault-tolerant architecture is proposed which considered steering by braking and acceleration as backup methods during SBW failures, trying to avoid hazardous situations. In Allous et al, 10 a fast fault estimation algorithm based on adaptive observer is proposed to guarantee optimal and fast control of the system in the presence of actuator faults. Similarly, in Huang et al, 11,12 a observer-based fault-tolerant controller using delta operator has been proposed, so the system can be robust to actuator fault as well as system uncertainties and disturbances.…”

Section: Introductionmentioning

confidence: 99%

Comparative study of two types of control loops aiming at trajectory tracking of a steer-by-wire system with Coulomb friction

Huang

Zhang

Wang

2020

Proceedings of the Institution of Mechanical Engineers, Part D:

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In an era of automated driving, steer-by-wire system seems to be an indispensable component for an autonomous vehicle. Among the many problems concerned, steering control of the system may be arguably the most indispensable part that lay the foundation for the system and is essentially a position servo control problem. Traditionally, the most commonly used control loop structures of the position servo system can be classified into two categories, both considering the current control loop as an essential part. However, this is not necessarily true in practical applications. In view of this, control systems with two different types of control loops based on proportional–integral–derivative controllers have been designed and compared in this paper for trajectory tracking of the steer-by-wire system with Coulomb friction. The aim is to explore the essential differences between the two types of control loops and study the effect of current loop on performance of the system. When properly designed, it can be seen that the asymptotic stability of the control system can be guaranteed. However, the system with type I control loop has a faster response speed, whereas the system with type II control loop has a smoother response. Theoretical as well as simulation and experimental results have been provided in detail, which can contribute to the understanding of the two types of control loops and can be used as guidance not only for researchers but also for engineering practice.

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EPS Control Strategy of Commercial Vehicles Considering Adhesion Coefficient

Fan

et al. 2022

Lecture Notes in Electrical Engineering

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Fast fault-tolerant control of electric power steering systems in the presence of actuator fault

Cited by 7 publications

References 18 publications

Proposing a BSPID Control Strategy Considering External Disturbances for Electric Power Steering (EPS) Systems

Proposing a BSPID Control Strategy Considering External Disturbances for Electric Power Steering (EPS) Systems

Comparative study of two types of control loops aiming at trajectory tracking of a steer-by-wire system with Coulomb friction

EPS Control Strategy of Commercial Vehicles Considering Adhesion Coefficient

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