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International Journal of Automotive Technology > Volume 24(3); 2023 > Article
International Journal of Automotive Technology 2023;24(3): 883-888.
doi: https://doi.org/10.1007/s12239-023-0072-z
EXPERIMENTAL VERIFICATIONS OF ELECTRIC POWER STEERING CONTROLLER BASED ON DISCRETE-TIME SLIDING MODE CONTROL WITH DISTURBANCE OBSERVER
Sukwon Kim 1, Mooryong Choi 2, Jonghoon Sung 3
1Brake Engineering Design Team, Hyundai Motor Company
2Research Lab, Nmotion
3Autonomous Driving Platform Development Team, SWM
PDF Links Corresponding Author.  Mooryong Choi  , Email. mucho@nmotion.co.kr
ABSTRACT
In this paper, we propose an electric power steering (EPS) controller based on discrete-time sliding mode control theory. In previous studies, most control logics were developed based on continuous times. However, most vehicle chassis models used in these controllers are based on discrete times. As a result, these control logics require model discretization to be implemented in embedded systems for practical uses which causes time and resource consuming. To overcome this disadvantage, in this study, we designed a discrete-time-based control logic which does not require the model discretization. The performance of the proposed control logic was first verified in the simulation in the loop system environment with MATLAB/Simulink and CarSim. Thereafter, actual vehicle experiments were conducted to demonstrate that the performance of the controller is still valid in real vehicle experiments and the proposed logic is executable on a rapid proto typing system.
Key Words: Sliding mode control, Electric power steering, Disturbance observer, Road reaction force, Torque control
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