HILS를 이용한 R-MDPS 제어 알고리즘 개발

Abstract

In this paper, R-MDPS control algorithm was developed and evaluated using HILS. R-MDPS algorithm is composed of basic assist map, vibration reduction algorithm, returnability control algorithm and damping compensator. Basic assist map and vibration reduction algorithm are basic control algorithm to assist drivers. Returnability control algorithm and damping compensator improve steering feel and vehicle safety. In this control algorithm, load torque observer is used to reduce vibration of R-MDPS system. Road load reproduction system is used to make this experiment and evaluate R-MDPS control algorithm. This System reproduced road load using CarSim vehicle model.