다입력 EPS 시스템에서의 복원 토크 추정을 이용한 슬라이딩 모드 제어

Abstract

Electric power steering is developed to reduce effort by providing steering assist to the driver of a vehicle. In recent years, a research regarding returnability is performed in order to improve driver’s steering feeling. Returnability is affected to friction force in EPS system and reaction force through tire and rack. Usually in the EPS system, friction and Reaction force are uncertain components which are very difficult to measure. This paper introduces both estimation using sliding mode observer and sliding mode control system regarding a multi-input EPS system to be composed of steering toque and selfaligning toque. And simulation confirms the results of the estimation and control algorithm.