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Steering feel improvement by mathematical modeling of the Electric Power Steering system

Steering feel improvement by mathematical modeling of the Electric Power Steering system
Choi, Jung HyunNam, KanghyunOh, Sehoon
DGIST Authors
Choi, Jung HyunNam, KanghyunOh, Sehoon
Issued Date
Author Keywords
Double Universal JointElectric steering systemSteering feelTorque compensation
FrictionSteeringTorqueUniversal jointsWheelsElectric power steeringElectric power steering systemSteering feelsSteering motionSteering systemsSteering torqueSteering wheelTorque compensationAutomobile steering equipment
Currently, the Electric Power Steering (EPS) system is an essential component of the vehicle because it provides assistive steering torque to the driver. To ensure a faster steering response, the position of the EPS in some vehicles is moved closer to the tire rather than the steering wheel. The steering torque, which is provided by the EPS in the steering system, mainly affects the driver's feel while steering. Therefore, the driver often feels uncomfortable owing to such positioning of the EPS in the steering system. In particular, the nonlinearity of the Universal Joint (UJ), which is one of parts of the steering system, can be felt at the steering wheel side. In this paper, we proposed an algorithm based on the mathematical model of the steering torque in the steering system to improve the steering feel. The mathematical model is structured using parameters that can be obtained from the information of the steering system. Moreover, the formulation of the steering torque consists of the two parts, namely the deformation part, which describes the propagation inside the steering system, and the friction part that describes the inherent friction in the UJ. Simulation and experiments were conducted to verify the proposed mathematical model with similar conditions to the real tire load during the steering motion. Furthermore, to improve the driver's feel during steering, a torque compensation algorithm is proposed and verified through experiments. © 2021 Elsevier Ltd
Pergamon Press Ltd.
Related Researcher
  • 오세훈 Oh, Sehoon 로봇및기계전자공학과
  • Research Interests Research on Human-friendly motion control; Development of human assistance;rehabilitation system; Design of robotic system based on human musculoskeletal system; Analysis of human walking dynamics and its application to robotics; 친인간적인 운동제어 설계연구; 인간 보조;재활 시스템의 설계 및 개발연구; 인간 근골격계에 기초한 로봇기구 개발연구; 보행운동 분석과 모델 및 로봇기구에의 응용
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Department of Robotics and Mechatronics Engineering MCL(Motion Control Lab) 1. Journal Articles


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