Development of Advanced R-EPS Control Algorithm Using HILS System

Abstract

Rack type Electric Power Steering (R-EPS) control algorithm was developed and evaluated using Hardware In the Loop Simulation (HILS). R-EPS system is system being produced mechanical inertia and friction. R-EPS Control Algorithm have to reduction a heterogeneous phenomenon by understanding of characteristic of R-EPS system. To remove different nature of steering feel, load torque observer is used. And, R-EPS control algorithm have special control algorithm by characteristic of R-EPS system. R-EPS control algorithm is composed of basic assist map, returnability control algorithm and damping compensator. Basic assist map is basic control algorithm to assist drivers by vehicle condition (ex. Steering torque, Vehicle velocity). Returnability control algorithm improve steering feel by increase of steering-torque gradient and decrease of returnability. Damping compensator is control algorithm for improvement of yaw stability by remove fish tailing phenomenon. Road load reaction system is used to make this experiment and evaluate R-EPS control algorithm. This System reproduced road load using kingpin moment of CarSim vehicle model.