電動パワーステアリングの操舵トルク低減制御方式 : オブザーバを用いた発振周波数に対するステアリング角速度制御(機械力学,計測,自動制御)

This paper proposes a new Electric Power Steering (EPS) control strategy that enables remarkable progress on steering maneuverability for stationary vehicles. Using a conventional controller, undesirable steering vibration prevented us from reducing steering torque. To eliminate this vibration, we developed a new control strategy based on steering angular velocity control for specified frequency using a newly developed steering shaft angular-velocity observer. We experimented with this proposed control algorithm using a test vehicle and confirmed that it enables reduced steering torque without any perceived vibration for drivers from slow steering to rapid steering. Concerning the assist-map, the proposed control strategy enabled more than three times higher gradient compared with that of the conventional one. This proposed control strategy requires no supplemental sensors.