Design of a robust LQG Compensator for an Electric Power Steering
Marcus Irmer, Hermann Henrichfreise
Abstract
The control of the driver’s hand torque of an electric power steering system has been state of the art for years. However, due to nonlinear spring characteristics, gear ratios, and degrees of freedom which are unconsidered in the design model for the controller or observer design, the challenge still lies in the robust implementation of this control approach. In this paper, the results of a systematic model and system analysis are used to develop an approach that solves the current stability and robustness problems existing in the serial development of steering systems while maintaining the same control quality. For this, a modified optimal control design is applied which uses an augmented design model.
Topics & Concepts
Control theory (sociology)Robustness (evolution)Linear-quadratic-Gaussian controlControl engineeringPower steeringRobust controlTorqueNonlinear systemComputer scienceEngineeringControl systemControl (management)Automotive engineeringArtificial intelligenceGeneThermodynamicsElectrical engineeringBiochemistryChemistryQuantum mechanicsPhysicsVehicle Dynamics and Control SystemsVibration Control and Rheological FluidsMechanical Engineering and Vibrations Research