Steering Control in Electric Power Steering Autonomous Vehicle Using Type-2 Fuzzy Logic Control and PI Control

Arifin, Bustanul; Suprapto, Bhakti Yudho; Prasetyowati, Sri Arttini Dwi; Nawawi, Zainuddin

doi:10.3390/wevj13030053

Cited by 22 publications

(21 citation statements)

References 27 publications

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“…Using Euler's method, a time-variant discrete linear model is obtained as (5), and equation ( 6) is the corresponding output function.…”

Section: δ _ X(t) � A(t)δx(t) + B(t)δu(t) (4)mentioning

confidence: 99%

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Path Tracking Method Based on Model Predictive Control and Genetic Algorithm for Autonomous Vehicle

Wang¹,

Chen²,

Yang

et al. 2022

Mathematical Problems in Engineering

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Model predictive control (MPC) is often used for controlling the autonomous vehicle tracking the target path. But to apply MPC schemes, the nonlinear model of vehicle kinematics needs to be approximately converted to a linear format, and the path tracking problem has to be converted into certain formats in order to implement the solver of convex quadratic programming. To solve these issues, a control strategy combining MPC and genetic algorithm (GA) is put forward. The nonlinear predictive model is adopted to predict the future movement of a controlled vehicle. The objective function is established according to the future movement and target path. Instead of using a convex quadratic programming solver, GA is applied to solve the optimization problem. The proposed MPC-GA method can handle the arbitrary nonlinear problem and make the objective function more comprehensible and flexible. This method is applied in solving the path tracking problem of an autonomous vehicle. Both simulations and on-field tests are conducted. The results validate the efficiency of the proposed MPC-GA path tracking method in comparison with traditional methods. With the MPC-GA controller, the automatic driving on the park road is basically realized. The control strategy can be considered as an alternative method to solve the path tracking problem for an autonomous vehicle.

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“…Using Euler's method, a time-variant discrete linear model is obtained as (5), and equation ( 6) is the corresponding output function.…”

Section: δ _ X(t) � A(t)δx(t) + B(t)δu(t) (4)mentioning

confidence: 99%

“…Traditional control methods, such as PID [4] and fuzzy control [5], are widely used in path tracking control or steering control.…”

Section: Introductionmentioning

confidence: 99%

Path Tracking Method Based on Model Predictive Control and Genetic Algorithm for Autonomous Vehicle

Wang¹,

Chen²,

Yang

et al. 2022

Mathematical Problems in Engineering

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“…Saat duty cycle 20 ke atas maka kipas dianggap menyala. Oleh karena itu terbentuk tiga himpunan fuzzy, yaitu lambat, sedang, dan cepat [46]. Bentuk kurva seperti pada Gambar 10.…”

Section: Gambar 9 Kurva Fungsi Keanggotaan Variabel Kelembapanunclassified

Optimasi Pengendalian Suhu dan Kelembapan Ruangan di Kota Yogyakarta Menggunakan Metode Fuzzy

2022

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The dry season is a season where most regions in Indonesia experience an increase in temperature. This unstable temperature can have a negative effect on the human body, so a control device is needed according to the needs of the body automatically. This study focuses on optimizing room temperature and humidity control in Yogyakarta City using a fan duty cycle unit with the Fuzzy Tsukamoto method. The ideal temperature and humidity range is obtained from measurements by the Indonesian Board of Meteorology, Climatology, and Geophysics (BMKG). The purpose of this study is to reduce the hot temperature in the room to normal temperature conditions. The calculation results with a temperature of 28.29°C and humidity of 79.06% resulted in a duty cycle of 40.92%. Based on 50 sample data taken each fan rotated for five minutes showed that the average change in temperature was -0.01°C and humidity -0.032%, meaning it could lower 0.01°C and humidity 0.032% every five minutes. This result is considered inefficient considering the very small changes, so in subsequent studies it is recommended to use technology such as air conditioning as a control tool

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“…1,2 Electric power steering (EPS) systems demonstrate outstanding features, such as green environmental protection, high-level efficiency and energy saving, and good steering characteristics, which represents the development direction of intelligent steering in the future. 3 Because the current 12 V (passenger car) or 24 V (commercial vehicle) on-board battery voltage system limits the power of the steering motor, the research on EPS system focuses on passenger car with small forward load, [4][5][6] while the research on EPS for commercial vehicle with large forward load has not been solved well. Most commercial vehicles today still use hydraulic steering systems due to the limitation of the 24 V supply voltage.…”

Section: Introductionmentioning

confidence: 99%

“…(3) The EPS has a simple structure, much lighter than HPS. (4) The EPS gives a more realistic driving feel at high speeds. For HPS, the higher the speed, the lighter the driver makes the driver more susceptible to driving and the vehicle is unstable especially when cornering is urgent.…”

Section: Introductionmentioning

confidence: 99%

A novel dual power-driven electric power steering system for electric commercial vehicles

Fu,

Lu,

Zhao

et al. 2023

Advances in Mechanical Engineering

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To solve the power limitation problem faced by the development of EPS system for commercial vehicles and achieve the high-performance steering, this article presents a novel dual power-driven electric power steering system (DPEPS) for commercial vehicles by using the open winding permanent magnet synchronous motor (OPMSM) fed by dual inverter with high and low DC voltage supplies. First, the two-level control strategy is introduced for the developed DPEPS system, where the upper control is designed to make the actual steering follow the expected steering performance as determined by the assistant torque curve and to generate the appropriate target current according to the vehicle speed and steering torque. And then the lower control consists of the synthetical space vector control scheme and dual PI control loop is used to execute commands from the upper control, which can make the motor execute the appropriate power supply method according to the steering torque and assist current. Finally, a co-simulation model is carried out for an electric bus, and based on which the proposed DPEPS system is validated.

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Steering Control in Electric Power Steering Autonomous Vehicle Using Type-2 Fuzzy Logic Control and PI Control

Cited by 22 publications

References 27 publications

Path Tracking Method Based on Model Predictive Control and Genetic Algorithm for Autonomous Vehicle

Path Tracking Method Based on Model Predictive Control and Genetic Algorithm for Autonomous Vehicle

Optimasi Pengendalian Suhu dan Kelembapan Ruangan di Kota Yogyakarta Menggunakan Metode Fuzzy

A novel dual power-driven electric power steering system for electric commercial vehicles

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