The Aligning Moment Compensation Strategy for EPS Based on ESP Function Allocation
Author(s): Yang Jun, Chen Wuwei, Zhao Linfeng, Huang He, Gao Ming
Pages: 794-801
Year: 2015 Issue: 7
Journal: Automotive Engineering
Keyword: electric power steering; electronic stability program; function allocation; aligning moment; hardware-in-the-loop simulation;
Abstract: An in-depth analysis on the influence of ESP on EPS assistance mode is conducted based on a 7 DOF vehicle model built. A nonlinear sliding mode controller is designed, the reference value of stability control force for yaw motion is calculated, and the dynamic allocation of resultant stability control force is performed with function allocation method. With consideration of the seriously inadequate self-aligning moment of vehicle wheels on low adhesive road, an ESP-based aligning moment compensation control strategy is proposed with ESP working mode corrected. The results of both hardware-in-the-loop simulation and software simulation show that the control strategy proposed can not only improve the aligning performance of steering system, but also make vehicle quickly and accu-rately return to its stable driving state and thus enhance its handling stability.
Pages: 794-801
Year: 2015 Issue: 7
Journal: Automotive Engineering
Keyword: electric power steering; electronic stability program; function allocation; aligning moment; hardware-in-the-loop simulation;
Abstract: An in-depth analysis on the influence of ESP on EPS assistance mode is conducted based on a 7 DOF vehicle model built. A nonlinear sliding mode controller is designed, the reference value of stability control force for yaw motion is calculated, and the dynamic allocation of resultant stability control force is performed with function allocation method. With consideration of the seriously inadequate self-aligning moment of vehicle wheels on low adhesive road, an ESP-based aligning moment compensation control strategy is proposed with ESP working mode corrected. The results of both hardware-in-the-loop simulation and software simulation show that the control strategy proposed can not only improve the aligning performance of steering system, but also make vehicle quickly and accu-rately return to its stable driving state and thus enhance its handling stability.
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