On Reverse Control Strategy and Anti-Wind Disturbance Analysis of Automotive EPS System

Abstract

Under the special situation of lateral wind disturbance, the lateral direction was resulted from the conventional obverse control strategy and influenced the vehicle stability. The 2-DOF full-vehicle model with the lateral wind disturbance and EPS dynamic model were designed. Reverse control strategy was designed where the EPS motor provided active steering control to prevent vehicle deflection with the input signal of steering torque under the lateral wind disturbance. In the EPS working process, the reverse control strategy and obverse control strategy were switched according to the drive situation to obtain the best vehicle stability. Anti-disturbance simulation was executed and the results shown that the yaw rate, the slideslip angle, the lateral acceleration and the lateral displacement have been weakened, and the vehicle stability is enhanced. The design of reverse control strategy has engineering significance to the overall design, function enhancement and optimization and steering manipulation and safety improvement.

A Novel Control Strategy of Crosswind Disturbance Compensation for Rack-Type Motor Driven Power Steering (R-MDPS) System

“…[5] used 2-D.O.F bicycle model based linear observer to estimate the effect while [6][7] used Kalman filter for estimating a tire self-aligning torque and the lateral disturbance. Furthermore, the anti-crosswind control strategies and related investigations have been proposed in [8][9][10][11][12][13]. [8] designed the switching control between reverse control strategy and obverse control one to reduce the effect on the vehicle.…”

“…Furthermore, the anti-crosswind control strategies and related investigations have been proposed in [8][9][10][11][12][13]. [8] designed the switching control between reverse control strategy and obverse control one to reduce the effect on the vehicle. Here, reverse control strategy is responsible for active steering control while obverse control is adopted to provide steering assistance.…”

“…[22] applied R-MDPS to the heavy truck and proposed control strategy for analysing control system with a dynamic vehicle system in Simulink/Trucksim cosimulation environment. Although [8][9][10][11][12] proposed various crosswind effect compensation control strategy, the complete solution of control system for the crosswind effect has not been addressed yet. Under influence of crosswind, [8] and [11] consider only the situation without human driver input (i.e, a driver loses steering control due to the effect) while [9][10]12] investigated the proposed control system for when a human driver still steers the vehicle.…”

“…Although [8][9][10][11][12] proposed various crosswind effect compensation control strategy, the complete solution of control system for the crosswind effect has not been addressed yet. Under influence of crosswind, [8] and [11] consider only the situation without human driver input (i.e, a driver loses steering control due to the effect) while [9][10]12] investigated the proposed control system for when a human driver still steers the vehicle. Furthermore, none of them explored the criteria whether human driver involves or not for this situation.…”

“…Specifically, the adaptive disturbance observer (D.O.B) is designed to estimate the cross-wind effect in terms of both the magnitude and direction based on the ideas of [5][6][7]. Furthermore, compared to [8][9][10][11][12], using optimal control theory, the control system is designed to assist the driver in both situations. One is for when the driver continues to steer the vehicle under the effect of the crosswind, and another is for when the driver temporarily loses steering control due to the effect.…”