Definition of a methodology to adapt a model of steering assistance and its experimental validation

This document is a preliminary version of the working report concerning the work packages 5.3 and 5.4 of the project VolHand 09 VTT 14, that are in charge to the Gipsa-Lab. In this working report, authors introduce the general architecture used to simulate the Electronic Power Steering (EPS) system. In this rst part, the models, the controller and the observer used for the simulation are introduced. Then, the methodology used to adapt the model to a driver with reduced mobility is described in detail. Finally, the experimental validation of this general architecture is proposed. Section 2 refers to the work-package Gipsa-Comp. Section 3 concerns the work-package Gipsa-Obs. Section 4 is dedicated to the work-package Gipsa-Booster. The work-package Gipsa-Tune is under development.

[1]  Charles Poussot-Vassal.  Commande robuste LPV multivariable de châssis automobile , 2008 .

[2]  Said Mammar,et al.  Vehicle Handling Improvement by Active Steering , 2002 .

[3]  A. W. Burton.  Innovation drivers for electric power-assisted steering , 2003 .

[4]  Jae-Bok Song,et al.  Control logic for an electric power steering system using assist motor , 2002 .

[5]  Carlos Canudas de Wit,et al.  Oscillation annealing and driver/tire load torque estimation in Electric Power Steering systems , 2011, 2011 IEEE International Conference on Control Applications (CCA).

[6]  Carlos Canudas-de-Wit,et al.  A new mathematical model for car drivers with spatial preview , 2011 .

[7]  Carlos Canudas-de-Wit,et al.  Dynamic Friction Models for Road/Tire Longitudinal Interaction , 2003 .

[8]  Jürgen Ackermann,et al.  Yaw disturbance attenuation by robust decoupling of car steering , 1996 .

[9]  Hui Zhang,et al.  Modeling and characteristic curves of electric power steering system , 2009, 2009 International Conference on Power Electronics and Drive Systems (PEDS).

[10]  Vijay Kumar,et al.  Passive mechanical gravity compensation for robot manipulators , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[11]  Chih-Jung Yeh,et al.  Design of control logic and compensation strategy for electric power steering systems , 2008, 2008 IEEE Vehicle Power and Propulsion Conference.

[12]  Rakan C. Chabaan.  Optimal control and gain scheduling of electrical power steering systems , 2009, 2009 IEEE Vehicle Power and Propulsion Conference.

[13]  C. Canudas-de-Wit,et al.  Modeling and control of steering actuator for heavy duty vehicles , 1999, 1999 European Control Conference (ECC).

[14]  C. Canudas-de-Wit,et al.  Fun-To-Drive By Feedback , 2005, Proceedings of the 44th IEEE Conference on Decision and Control.

[15]  Alessandro De Luca,et al.  PD control with on-line gravity compensation for robots with elastic joints: Theory and experiments , 2005, Autom..

[16]  Pietro Dolcini,et al.  Fun-to-Drive by Feedback , 2005, Eur. J. Control.

[17]  Long Chen,et al.  Low-pass filter based automotive EPS controller and comparative full-vehicle tests , 2008, 2008 Chinese Control and Decision Conference.

[18]  Carlos Canudas-de-Wit,et al.  Dynamic tyre friction models for combined longitudinal and lateral vehicle motion , 2005 .

[19]  C. Canudas de Wit,et al.  Stability analysis via passivity of the lateral actuator dynamics of a heavy vehicle , 1999, Proceedings of the 1999 IEEE International Conference on Control Applications (Cat. No.99CH36328).

[20]  Ren C. Luo,et al.  Gravity compensation and compliance based force control for auxiliarily easiness in manipulating robot arm , 2011, 2011 8th Asian Control Conference (ASCC).

[21]  Stephane Guegan,et al.  Control design for an electro power steering system: Part I the reference model , 2001, 2001 European Control Conference (ECC).

[22]  A. Modjtahedzadeh,et al.  A control theoretic model of driver steering behavior , 1990, IEEE Control Systems Magazine.