| 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 |
|
|
|
|
|
|
|
| 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 |
|
|
|
Corresponding Author.
Mooryong Choi , Email. 
Preview
Full text via DOI
Download Citation 
Print 
