Experimental identification of torque overlay steering system and nonlinear control. Issue 9 (2018)

• Record Type: Journal Article
• Authors: Homann, Andreas; Buß, Markus; Keller, Martin; Glander, Karl-Heinz; Bertram, Torsten
• Is Part Of: IFAC-PapersOnLine. Volume 51:Issue 9(2018)
• Page Start: 311
• Page End: 316
• Publication Date: 2018
• Subjects: Automotive Control -- Modeling -- Control -- Optimization of Transportation Systems -- Connected -- Automated Vehicles; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2018.07.051
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: A systematic approach to identify the steering behavior and to design a nonlinear controller by utilizing experimental data is presented in this contribution. The used measurements of steering maneuvers are recorded in a test vehicle equiped with an electrically powered belt drive steering system. In a first step, the system order is approximated by determining the amplitude and frequency characteristics in the frequency domain through correlation methods. By using step responses a parametric identification of the steering behavior is done in the time domain. The determined model is the basis for the design of a nonlinear controller. Since various parameters which influence the steering behavior are dependent on external environmental factors and highly time invariant, a robust PID controller with gain scheduling and a feed forward is utilized.