S-Space College of Engineering/Engineering Practice School (공과대학/대학원) Dept. of Mechanical Aerospace Engineering (기계항공공학부) Theses (Master's Degree_기계항공공학부)
Time Delay Controller(TDC) Design of Electric Power Steering(EPS) for Lateral Control in Automated Vehicles
자율주행 차량의 횡방향 제어를 위한 전기식 파워 조향기의 시간 지연 제어기 설계
- 공과대학 기계항공공학부
- Issue Date
- 서울대학교 대학원
- Automated driving vehicle ; Electric Power Steering(EPS) ; Time delay control ; Disturbance compensation ; Steering wheel angle control
- 학위논문 (석사)-- 서울대학교 대학원 : 기계항공공학부, 2016. 2. 이경수.
- This paper presents a steering wheel angle control algorithm for automated driving vehicles. Time-delay-controller has been applied and aims at tracking desired steering wheel angle with robustness against disturbance. Rack force in Electric Power Steering(EPS) system due to self-aligning torque and system uncertainty have been considered as the disturbance. The proposed control method requires only control input and states information at previous step in order to generate torque input command. Therefore, the control strategy covers uncertainty of steering system. The performance of the steering wheel angle controller was validated via computer simulation and vehicle test results. The proposed control algorithm compensated disturbance of the Electric Power Steering(EPS) system and reduced steering wheel angle tracking error.