Design and experimentation of an LPV extended state feedback control on Electric Power Steering systems
| Autor: | Olivier Sename, Kazusa Yamamoto, Damien Koenig, Pascal Moulaire |
|---|---|
| Přispěvatelé: | JTEKT (JTEKT), GIPSA - Systèmes linéaires et robustesse (GIPSA-SLR), Département Automatique (GIPSA-DA), Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Grenoble Images Parole Signal Automatique (GIPSA-lab ), Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019])-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP )-Institut Polytechnique de Grenoble - Grenoble Institute of Technology-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes [2016-2019] (UGA [2016-2019]) |
| Rok vydání: | 2019 |
| Předmět: |
Lyapunov function
0209 industrial biotechnology Observer (quantum physics) Computer science Applied Mathematics 020208 electrical & electronic engineering Control (management) Proportional Integral observer design DSPACE 02 engineering and technology Track (rail transport) Linear Parameter Varying state feedback Electric Power Steering systems [SPI.AUTO]Engineering Sciences [physics]/Automatic Computer Science Applications symbols.namesake 020901 industrial engineering & automation Control and Systems Engineering Control theory 0202 electrical engineering electronic engineering information engineering symbols Torque State (computer science) Electrical and Electronic Engineering Automotive systems |
| Zdroj: | Control Engineering Practice Control Engineering Practice, Elsevier, 2019, 90, pp.123-132. ⟨10.1016/j.conengprac.2019.06.004⟩ |
| ISSN: | 0967-0661 |
| Popis: | This paper deals with Column-type Electric Power Steering systems. An H ∞ state feedback Linear Parameter-Varying controller is developed considering a parameter-dependent Lyapunov function. For practical implementation, an H ∞ ∕ H 2 Proportional Integral observer is added for state and driver torque estimation. The whole observer-based control has been implemented in real-time using dSpace/MicroAutobox on a test car. Some driving tests have been carried out on a test track, and promising results are achieved regarding both estimation and control performances. |
| Databáze: | OpenAIRE |
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