文章基本信息

标题：Experimental identification of torque overlay steering system and nonlinear control
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作者：Andreas Homann ; Markus Buß ; Martin Keller 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：9
页码：311-316
DOI：10.1016/j.ifacol.2018.07.051
语种：English
出版社：Elsevier
摘要：AbstractA systematic approach to identify the steering behavior and to design a nonlinear controller by utilizing experimental data is presented in this contribution. The used measurements of steering maneuvers are recorded in a test vehicle equiped with an electrically powered belt drive steering system. In a first step, the system order is approximated by determining the amplitude and frequency characteristics in the frequency domain through correlation methods. By using step responses a parametric identification of the steering behavior is done in the time domain. The determined model is the basis for the design of a nonlinear controller. Since various parameters which influence the steering behavior are dependent on external environmental factors and highly time invariant, a robust PID controller with gain scheduling and a feed forward is utilized.
关键词：KeywordsAutomotive ControlModelingControlOptimization of Transportation SystemsConnectedAutomated Vehicles