Development of robust motor servo control for rear-steering actuator based on two-degree-of-freedom control system

摘要

Rear-steering system can improve vehicle stability using active control of the rear wheel angles. For designing the rear-steering system, environmental conditions, performance deterioration due to aging and component variation as a result of manufacturing tolerance under mass production must be taken into consideration. We have applied two-degree-of-freedom (2DOF) feedback control with feedforward control for the motor servo control so that the rear-steering actuator can track the target rear-steering angle accurately and stably. The control system is designed based upon a nominal mathematical model and its variation range. As a result, the rear-steering actuator can be controlled with excellent performance and high reliability. This paper describes the mathematical model construction in the frequency domain and a robust motor servo controller design based on 2DOF feedback control with feedforward control.