Construction of Ideal Electric Power-Steering Characteristics by Inverse Dynamic Analysis Method
Abstract
:1. Introduction
1.1. Control Strategies
1.2. Variable Assistance Level Control Strategy
1.3. Paper Contributions
- Analyzing the dynamics of the EPS system, exploring and proposing a method to directly analyze the steering torque into the driver’s desired steering motion intensity requirement, and establishing the ideal relationship between the steering torque and the steering motion intensity per Stevens’ psychological law, thereby providing a theoretical basis for the design and adjustment of the steering feel.
- The nonlinear relationship between steering torque, power-steering torque, vehicle speed, and steering motion intensity is analyzed into three functional modules: driving style module; vehicle motion dynamic inverse characteristic module; and steering system dynamic inverse characteristic module. A comprehensive analysis model of the EPS power-steering characteristics based on driving style, steering system dynamics, and vehicle dynamics is proposed. In which the two modules of vehicle dynamics and steering system dynamics are both inherent characteristics of the vehicle. If we want to improve the driving feel by improving these modules, it will be very difficult and increase the production cost. Therefore, customizing the driving style module to improve the driving feel and suit the different driving experience preferences of customers without having to equip additional hardware or increase the production cost is an excellent solution for designers and manufacturers.
- Applying the above method, the paper proposes three “driving styles” corresponding to three scenarios of “power-assist steering characteristics maps”. The results show that the calculations of the driver’s impact torque, the power-steering torque support level, and the maximum power-assist-steering torque value are all consistent with established scientific research. This is the basis for designers and manufacturers to make choices according to customer preferences to improve product competitiveness.
2. Human’s Perception Mechanism of Automotive Steering Motion
2.1. Human’s Perception Mechanism of Vehicle Motion
2.2. The Ideal Relationship Model Between Steering Torque and Steering Motion Intensity Based on Stevens’ Law
- (1)
- Empirical calibration: The exponent and the speed-dependent coefficient should be determined experimentally for different driving conditions rather than assuming a fixed value.
- (2)
- Contextual adaptability: The function should be flexible to accommodate different road conditions, driver preferences, and vehicle types, ensuring it does not assume an overly rigid psychophysical function.
- (3)
- Accounting for variance: Driver perception of steering intensity may vary due to cognitive and biomechanical factors, requiring adaptive tuning mechanisms such as machine-learning-based adjustments.
3. The Dynamic Model “Eps System—Vehicle” and the Inverse Transfer Function Method
3.1. Analysis of the Dynamic Model and the Inverse Transfer Function Method
3.2. Definition of the Inverse Relationship Between the Vehicle’s Lateral Acceleration and the Driver Angle
Vehicle Motion Dynamics
3.3. Definition of the Inverse Relationship Between Steering Torque and Steering Driver Angle
4. Research on Building Ideal Steering Torque Characteristics
4.1. Constructing the Steering Torque and Lateral Acceleration Transfer Functions
4.2. Building Ideal Steering Torque Characteristics
4.2.1. Case 1: The Goal Is to Have a “Light and Comfortable Driving Feel”
- (1)
- When , the power-assistance torque (the power-assistance motor is not activated);
- (2)
- When and , is calculated according to the linear characteristic, to take advantage of the high power of linear characteristics, ;
- (3)
- When and , is calculated according to the nonlinear characteristic to ensure the rapid increase of the power-assistance torque and high efficiency, ;
- (4)
- When , then , the power-assistance torque is maximized and does not increase further even if continues to grow.
- (5)
- When a vehicle is turning in place , there is high road resistance. Subsequently, the power-assistance torque must be large to ensure , from which the driver feels the need for a light and comfortable steering feel. When , depending on the speed, the power-assistance torque must reach its maximum value when the steering torque is in the range .
4.2.2. Case 2: The Goal Is to Achieve a “Sporty Steering Feel”
- (1)
- When the steering torque is small (takes at intersection ), the power-assistance torque , and the power-assistance motor is not activated);
- (2)
- When , the method of determining corresponds to Case 1. However, the level of assistance will be less than in Case 1 by an amount of .
- (3)
- When a vehicle is turning in place, the torque must be larger to ensure in the range of . In addition, when the driver applies a large enough steering force (about , the large value corresponding to high speed), the power-steering torque must reach its maximum value to ensure the convenience of steering operation when driving on difficult and complex terrain.
4.2.3. Case 3: “Multi-Level Driving Style”—The Goal Is to Achieve a Comfortable Driving Style at Low Speeds, a Sporting Style at Medium Speeds, and a Heavy, Safety Driving Feel at High Speeds
- (1)
- When the car is turning in place and when , the resistance from the road when turning is large. Therefore, must be large to ensure a light steering feel, maintaining in the range of .
- (2)
- When , the road resistance will decrease rapidly according to the car’s speed. So, to create a slightly heavier and sporty driving feel, acts according to Case 2.
- (3)
- When , the car speed range is the speed at which popular cars on the market that apply linear power-steering characteristic maps often force the power-steering system to be disconnected (i.e., there will be no more power steering) because at this time, the road-resistance torque is small, so to ensure the driving feeling, the power steering should be disconnected. In addition, in terms of the calculation algorithm, at this time, the coefficient has reached the minimum point, and if it continues to increase the car’s speed, then will increase. With the calculation method of the article, will continuously decrease. (Theoretically, the car’s speed can become very high ). Thus, with the above calculation method, the power steering is guaranteed to be very small and approaches 0 when the car has a speed of . From the above analysis, the article determines according to the following principles: when (where is the desired steering torque value to begin activating power assistance, it is selected ) to ensure good road feedback at high speeds. When , increases linearly with the steering torque, . However, the assist torque decreases rapidly with increasing vehicle speed because the coefficient decreases quickly with increasing vehicle speed (in this stage, ). When , then , the power-assistance torque is maximized and does not increase further even if continues to grow.
- (4)
- When and the road resistance is very small, only a small steering moment can create a large front wheel rotation angle, so it is necessary to limit this impact by providing power in the opposite direction to the steering direction, creating a heavy feeling of the steering wheel, with a fairly large steering torque still providing a small steering angle to ensure safety at very high speeds. Therefore, at very high speeds, to ensure safety when there are unwanted influences from the road or the driver on the steering wheel, when value is small , and then when , the motor will apply a torque opposite to the direction of . increases linearly but inversely with , (this stage ). When , and then , the power-assistance torque is maximized and does not increase further even if continues to grow.
5. Simulation Results Analysis
5.1. Case 1: Light and Comfortable Driving Feel
- (1)
- From Figure 5a–c, when , then (the power-assistance motor is not activated); when , below the intersection point of the line and the curve , the assist torque follows the linear characteristic , and above the intersection point, the assist torque follows the non-linear characteristic . With , these intersection points correspond to and ;
- (2)
- Also following the aforementioned speeds, when , then and the assist torque reaches a maximum value , the assist torque does not increase further even if continues to grow.
- (3)
- From Figure 5a–d, when the driver applies an increasing steering torque , the assist torque and total torque also increase, resulting in an increased lateral acceleration of the vehicle, which means the rotational intensity increases.
- (4)
- From Figure 5d,e the characteristiscs of and correspond to different speeds. When applying the same value of steering torque, the lateral acceleration and the steering angle response are also different, and the level of lateral acceleration and the steering angle response decrease as the speed increases. In other words, to create the same value of lateral acceleration or the same value of the steering angle at higher speeds, the steering torque needs to be applied more. This will make the driver feel the steering wheel is heavier at high speeds, thereby increasing safety when driving at high speeds.
- (5)
- Similarly, Figure 5f shows the characteristics between the steering angle and the total torque applied to the pinion , and Figure 5g shows the characteristics between the steering angle and lateral acceleration . It can be seen that at the same speed, the relationship between is linear, which provides the driver a consistent steering feel at the same speed. As the speed increases, the slope of the a–b characteristic decreases quite rapidly, which means that to create the same steering angle at higher speeds, a larger steering torque is required, thus creating a feeling of firmness in the steering wheel at high speeds to improve control safety. On the contrary, as the speed increases, the slope of the characteristic increases rapidly, which means that at higher speeds, the lateral acceleration is more sensitive to the steering angle, so creating a heavy steering feel to reduce the steering angle at high speeds is necessary.
- (6)
- From Figure 5h, the characteristic of is the linear relationship, independent of vehicle speed. This ensures a consistent steering feel.
- (7)
- Figure 5i,j are the response of the power-steering torque and total torque when steering sinusoidally. The results also show that the established principles are implemented.
5.2. Case 2: Sporty Steering Feel
- (1)
- From Figure 6a,b, the power-steering motor is only activated when , and the value gradually increases as the vehicle speed increases. When activating the power steering, the assist torque increases nonlinearly according to , but the characteristic curve’s slope is lower than the increase of “Case 1”.
- (2)
- Corresponding to different speeds, the power-steering torque when . The values at the transition points of the characteristic curve are shown in Figure 6b.
- (3)
- Other results are similar to Case 1.
5.3. Case 3: Multi-Level Driving Feel Style (Comfortable Driving Style at Low Speed, Sport Style at Medium Speed, and Heavy, Safety Driving Feel at High Speed)
- (1)
- When , the characteristic curve is constructed, as in Case 1;
- (2)
- When , the assist torque acts according to Case 2;
- (3)
- When , while , then , and when , then increases according to the linear characteristic to reduce the torque support compared to the nonlinear characteristic;
- (4)
- When , when , then . When , then and increases in the opposite direction to until , which will not continue to increase even though continues to increase. (However, in actual vehicle operation, the case of steering with large torque at high speeds rarely happens);
- (5)
- The values at the transition points of the characteristic curve are shown in Figure 7b.
6. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
Abbreviations
EPS | Electric Power Steering |
CNS | Central Nervous System |
Appendix A
Symbol | Description | Unit |
---|---|---|
Driver torque | ||
Assist torque | ||
Total torque | ||
Road reaction torque | ||
The torque when the power steering is activated | ||
Lateral force | ||
Longitudinal force at front axle | ||
Longitudinal force at rear axle | ||
Lateral force at front axle | ||
Vertical force at front axle | ||
Vehicle sideslip angle | ||
Vehicle yaw angle | ||
Steer angle | ||
Front tire sideslip angle | ||
Rear tire sideslip angle | ||
Kingpin angle | ||
Camber angle | ||
, | Vehicle speed sensitivity coefficient | |
Vehicle speed sensitivity coefficient in parking | ||
Adhesion coefficient (friction) | ||
Steering system efficiency | ||
Tire pneumatic trail | ||
Kingpin forward indicator | ||
Total offset | ||
Turning radius | ||
Wheelbase | ||
Ox-axis distance of axle from the mass center | ||
Oy-axis distance of axle from the mass center | ||
Ox-axis distance of front axle from the mass center | ||
Oy-axis distance of rear axle from the mass center | ||
Wheel radius | ||
Tyre lateral stiffness coefficient | ||
Front tire sideslip coefficient | ||
Rear tire sideslip coefficient | ||
Steering system stiffness | ||
Vehicle speed | ||
Vehicle characteristic speed | ||
; | Front and rear wheel Longitudinal speeds | |
Lateral acceleration | ||
Vehicle mass | ||
Vehicle moment of inertia | ||
Tyre standard pressure | ||
Steering gear ratio |
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Nguyen, H.Q.; Vu, V.T.; Sename, O. Construction of Ideal Electric Power-Steering Characteristics by Inverse Dynamic Analysis Method. Electronics 2025, 14, 1144. https://doi.org/10.3390/electronics14061144
Nguyen HQ, Vu VT, Sename O. Construction of Ideal Electric Power-Steering Characteristics by Inverse Dynamic Analysis Method. Electronics. 2025; 14(6):1144. https://doi.org/10.3390/electronics14061144
Chicago/Turabian StyleNguyen, Hong Quan, Van Tan Vu, and Olivier Sename. 2025. "Construction of Ideal Electric Power-Steering Characteristics by Inverse Dynamic Analysis Method" Electronics 14, no. 6: 1144. https://doi.org/10.3390/electronics14061144
APA StyleNguyen, H. Q., Vu, V. T., & Sename, O. (2025). Construction of Ideal Electric Power-Steering Characteristics by Inverse Dynamic Analysis Method. Electronics, 14(6), 1144. https://doi.org/10.3390/electronics14061144