Designing a disturbance estimator for electric power steering robust controller
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Dec 19, 2024
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Abstract
Electric power steering, one of the most important advances in the automotive industry, is now found even in the most affordable cars. However, due to the chaotic driving environment, with multiple sources of noise and disturbances affecting the system, effective control of this technology remains a major challenge. Because of manufacturing cost constraints, the use of expensive components, such as high-end microcontrollers or numerous sensors, is not economically viable. Therefore, it is imperative to implement a cost-effective control method that ensures stability, safety, and other necessary requirements. This paper explains the complexities of electric power steering, represents its dynamic nature through mathematical modeling while considering noise and disturbances as integral inputs to the system, and introduces a robust controller designed to estimate these inputs. The method to estimate noise and disturbances using a sliding mode controller is also examined. Finally, the theoretical assertions presented earlier in this paper have been substantiated through meticulous simulations using MATLAB. These simulations have not only confirmed the validity of the claims but also provided a comprehensive evaluation of the system's operational efficacy, ensuring a robust foundation for future research and applications.
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References
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[26] Y. Liu, J.-W. Wang, Z. Wu, Z. Ren, and S. Xie, “Robust H∞ Control for Semilinear Parabolic Distributed Parameter Systems With External Disturbances via Mobile Actuators and Sensors,” IEEE Transactions on Cybernetics, vol. 53, no. 8, pp. 4880–4893, 2023, doi: 10.1109/TCYB.2022.3150171.
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[33] W. Kim, Y. S. Son, and C. C. Chung, “Torque-Overlay-Based Robust Steering Wheel Angle Control of Electrical Power Steering for a Lane-Keeping System of Automated Vehicles,” IEEE Transactions on Vehicular Technology, vol. 65, no. 6, pp. 4379–4392, 2016, doi: 10.1109/TVT.2015.2473115.
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[35] B. Walcott and S. Zak, “State observation of nonlinear uncertain dynamical systems,” IEEE Transactions on Automatic Control, vol. 32, no. 2, pp. 166–170, 1987, doi: 10.1109/TAC.1987.1104530.
[2] G. Refiadi, I. S. Aisyah, and J. P. Siregar, “Trends in lightweight automotive materials for improving fuel efficiency and reducing carbon emissions,” Automotive Experiences, vol. 2, no. 3, pp. 78–90, 2019, doi: 10.31603/ae.v2i3.2984.
[3] A. Mesdaghi and M. Mollajafari, “Improve performance and energy efficiency of plug-in fuel cell vehicles using connected cars with V2V communication,” Energy Conversion and Management, vol. 306, p. 118296, Apr. 2024, doi: 10.1016/j.enconman.2024.118296.
[4] J. I. Park, K. Jeon, and K. Yi, “An investigation on the energy-saving effect of a hybrid electric-power steering system for commercial vehicles,” Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, vol. 233, no. 6, pp. 1623–1648, May 2019, doi: 10.1177/0954407018777579.
[5] W. Zhao, X. Zhou, C. Wang, and Z. Luan, “Energy analysis and optimization design of vehicle electro-hydraulic compound steering system,” Applied Energy, vol. 255, p. 113713, Dec. 2019, doi: 10.1016/j.apenergy.2019.113713.
[6] A. W. Burton, “Innovation drivers for electric power-assisted steering,” IEEE Control Systems, vol. 23, no. 6, pp. 30–39, Dec. 2003, doi: 10.1109/MCS.2003.1251179.
[7] K. Suzuki, Y. Inaguma, K. Haga, and T. Nakayama, “Integrated Electro-Hydraulic Power Steering System with Low Electric Energy Consumption,” Feb. 1995, doi: 10.4271/950580.
[8] Xiang Chen, Tiebao Yang, Xiaoqun Chen, and Kemin Zhou, “A Generic Model-Based Advanced Control of Electric Power-Assisted Steering Systems,” IEEE Transactions on Control Systems Technology, vol. 16, no. 6, pp. 1289–1300, Nov. 2008, doi: 10.1109/TCST.2008.921805.
[9] S. R. Salkuti, “Advanced Technologies for Energy Storage and Electric Vehicles,” Energies, vol. 16, no. 5, p. 2312, Feb. 2023, doi: 10.3390/en16052312.
[10] M. H. Shojaeefard, M. Mollajafari, S. Ebrahimi-Nejad, and S. Tayebi, “Weather-aware fuzzy adaptive cruise control: Dynamic reference signal design,” Computers and Electrical Engineering, vol. 110, p. 108903, Sep. 2023, doi: 10.1016/j.compeleceng.2023.108903.
[11] J. Wu, J. Zhang, Y. Tian, and L. Li, “A Novel Adaptive Steering Torque Control Approach for Human–Machine Cooperation Autonomous Vehicles,” IEEE Transactions on Transportation Electrification, vol. 7, no. 4, pp. 2516–2529, Dec. 2021, doi: 10.1109/TTE.2021.3083679.
[12] Y. Xing, C. Lv, Y. Liu, Y. Zhao, D. Cao, and S. Kawahara, “Hybrid-Learning-Based Driver Steering Intention Prediction Using Neuromuscular Dynamics,” IEEE Transactions on Industrial Electronics, vol. 69, no. 2, pp. 1750–1761, Feb. 2022, doi: 10.1109/TIE.2021.3059537.
[13] Y. Fujimura, S. Hashimoto, and D. Banjerdpongchai, “Design of Model Predictive Control with Nonlinear Disturbance Observer for Electric Power Steering System,” in 2019 SICE International Symposium on Control Systems (SICE ISCS), Mar. 2019, pp. 49–56, doi: 10.23919/SICEISCS.2019.8758721.
[14] A. Marouf, M. Djemai, C. Sentouh, and P. Pudlo, “A New Control Strategy of an Electric-Power-Assisted Steering System,” IEEE Transactions on Vehicular Technology, vol. 61, no. 8, pp. 3574–3589, Oct. 2012, doi: 10.1109/TVT.2012.2209689.
[15] X. Jingyi, Z. Tao, L. Junjie, Z. Yang, G. Pingshu, and Y. Jingjing, “Research on EPS Assist Characteristics Based on Hardware-in-loop Simulation,” in 2020 4th CAA International Conference on Vehicular Control and Intelligence (CVCI), Dec. 2020, pp. 525–529, doi: 10.1109/CVCI51460.2020.9338654.
[16] J.-H. Kim and J.-B. Song, “Control logic for an electric power steering system using assist motor,” Mechatronics, vol. 12, no. 3, pp. 447–459, Apr. 2002, doi: 10.1016/S0957-4158(01)00004-6.
[17] G. L. Nikulin and G. A. Frantsuzova, “Synthesis of an electric-power steering control system,” Optoelectronics, Instrumentation and Data Processing, vol. 44, no. 5, pp. 454–458, 2008, doi: 10.3103/S8756699008050105.
[18] D.-Y. Pang, B.-C. Jang, and S.-C. Lee, “Steering wheel torque control of electric power steering by PD-control,” 제어로봇시스템학회: 학술대회논문집, pp. 1366–1370, 2005.
[19] W. Ren, H. Chen, and J. Song, “Model-based development for an electric power steering system,” Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, vol. 222, no. 7, pp. 1265–1269, Jul. 2008, doi: 10.1243/09544062JMES925.
[20] J. Song, K. Boo, H. S. Kim, J. Lee, and S. Hong, “Model development and control methodology of a new electric power steering system,” Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, vol. 218, no. 9, pp. 967–975, Sep. 2004, doi: 10.1243/0954407041856836.
[21] Z. Gao, W. Wu, J. Zheng, and Z. Sun, “Electric power steering system based on fuzzy PID control,” in 2009 9th International Conference on Electronic Measurement & Instruments, 2009, pp. 3–459, doi: 10.1109/ICEMI.2009.5274264.
[22] L. Wei, G. Kong-hui, and Z. Jian-wei, “Research on Current Control Algorithm of Electric Power Steering,” in 2010 WASE International Conference on Information Engineering, 2010, vol. 3, pp. 438–442, doi: 10.1109/ICIE.2010.282.
[23] H. Zang and M. Liu, “Fuzzy Neural Network PID Control for Electric Power Steering System,” in 2007 IEEE International Conference on Automation and Logistics, 2007, pp. 643–648, doi: 10.1109/ICAL.2007.4338643.
[24] Z. Jalali Khalil Abadi and N. Mansouri, “A comprehensive survey on scheduling algorithms using fuzzy systems in distributed environments,” Artificial Intelligence Review, vol. 57, no. 1, p. 4, 2024, doi: 10.1007/s10462-023-10632-y.
[25] J. Pampamallco–Jara and A. Rojas–Moreno, “Real–Time Implementation of Fuzzy Control Blocks for Process Control,” in 2022 IEEE XXIX International Conference on Electronics, Electrical Engineering and Computing (INTERCON), 2022, pp. 1–4, doi: 10.1109/INTERCON55795.2022.9870048.
[26] Y. Liu, J.-W. Wang, Z. Wu, Z. Ren, and S. Xie, “Robust H∞ Control for Semilinear Parabolic Distributed Parameter Systems With External Disturbances via Mobile Actuators and Sensors,” IEEE Transactions on Cybernetics, vol. 53, no. 8, pp. 4880–4893, 2023, doi: 10.1109/TCYB.2022.3150171.
[27] C. Dannöhl, S. Müller, and H. Ulbrich, “H∞-control of a rack-assisted electric power steering system,” Vehicle System Dynamics, vol. 50, no. 4, pp. 527–544, Apr. 2012, doi: 10.1080/00423114.2011.603051.
[28] W. Zhao, Y. Li, C. Wang, T. Zhao, and X. Gu, “H∞ control of novel active steering integrated with electric power steering function,” Journal of Central South University, vol. 20, no. 8, pp. 2151–2157, 2013, doi: 10.1007/s11771-013-1719-0.
[29] H. Maghfiroh, M. Nizam, M. Anwar, and A. Ma’Arif, “Improved LQR Control Using PSO Optimization and Kalman Filter Estimator,” IEEE Access, vol. 10, pp. 18330–18337, 2022, doi: 10.1109/ACCESS.2022.3149951.
[30] W. Liu, G. Wang, J. Sun, F. Bullo, and J. Chen, “Learning robust data-based LQG controllers from noisy data,” IEEE Transactions on Automatic Control, 2024.
[31] M. Paluszek and S. Thomas, MATLAB machine learning recipes: a problem-solution approach. Springer, 2019.
[32] H. Nam, W. Choi, and C. Ahn, “Model Predictive Control for Evasive Steering of an Autonomous Vehicle,” International Journal of Automotive Technology, vol. 20, no. 5, pp. 1033–1042, 2019, doi: 10.1007/s12239-019-0097-5.
[33] W. Kim, Y. S. Son, and C. C. Chung, “Torque-Overlay-Based Robust Steering Wheel Angle Control of Electrical Power Steering for a Lane-Keeping System of Automated Vehicles,” IEEE Transactions on Vehicular Technology, vol. 65, no. 6, pp. 4379–4392, 2016, doi: 10.1109/TVT.2015.2473115.
[34] G. Kim, S. You, S. Lee, D. Shin, and W. Kim, “Robust Nonlinear Torque Control Using Steering Wheel Torque Model for Electric Power Steering System,” IEEE Transactions on Vehicular Technology, vol. 72, no. 7, pp. 9555–9560, 2023, doi: 10.1109/TVT.2023.3248301.
[35] B. Walcott and S. Zak, “State observation of nonlinear uncertain dynamical systems,” IEEE Transactions on Automatic Control, vol. 32, no. 2, pp. 166–170, 1987, doi: 10.1109/TAC.1987.1104530.