Parameter Estimation, Robust Controller Design and Performance Analysis for an Electric Power Steering System
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School of Automotive Engineering, Wuhan University of Technology, Wuhan 430070, China
2
School of Automation, Wuhan University of Technology, Wuhan 430070, China
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Author to whom correspondence should be addressed.
Algorithms 2019, 12(3), 57; https://doi.org/10.3390/a12030057
Received: 21 December 2018
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Revised: 26 February 2019
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Accepted: 26 February 2019
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Published: 5 March 2019
(This article belongs to the Special Issue Parameter Estimation Algorithms and Its Applications)
This paper presents a parameter estimation, robust controller design and performance analysis for an electric power steering (EPS) system. The parametrical analysis includes the EPS parameters and disturbances, such as the assist motor parameters, sensor-measurement noise, and random road factors, allowing the EPS stability to be extensively investigated. Based on the loop-shaping technique, the system controller is designed to increase the EPS stability and performance. The loop-shaping procedure is proposed to minimize the influence of system disturbances on the system outputs. The simplified refined instrumental variable (SRIV) algorithm, least squares state variable filter (LSSVF) algorithm and instrumental variable state variable filter (IVSVF) algorithm are applied to reduce the model mismatching between the theoretical EPS models and the real EPS model, as the EPS parameters can be accurately identified based on the experimental EPS data. The performance of the proposed method is thus compared to that of the proportional-integral-derivative (PID) test bench results for the EPS system. The experimental results demonstrated that the proposed loop-shaping controller provides good tracking performance while ensuring the stability of the EPS system.
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Keywords:
electric power steering; loop-shaping control; model identification; simplified refined instrumental variable; least squares state variable filter; instrumental variable state variable filter
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MDPI and ACS Style
Nguyen, V.G.; Guo, X.; Zhang, C.; Tran, X.K. Parameter Estimation, Robust Controller Design and Performance Analysis for an Electric Power Steering System. Algorithms 2019, 12, 57. https://doi.org/10.3390/a12030057
AMA Style
Nguyen VG, Guo X, Zhang C, Tran XK. Parameter Estimation, Robust Controller Design and Performance Analysis for an Electric Power Steering System. Algorithms. 2019; 12(3):57. https://doi.org/10.3390/a12030057
Chicago/Turabian StyleNguyen, Van Giao, Xuexun Guo, Chengcai Zhang, and Xuan Khoa Tran. 2019. "Parameter Estimation, Robust Controller Design and Performance Analysis for an Electric Power Steering System" Algorithms 12, no. 3: 57. https://doi.org/10.3390/a12030057
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