Electric Power Steering Compensation Algorithm for Differential Braking on Split Road

摘要

As a kind of typical mechanical-electrical integration system,Electric Power Steering(EPS) has achieved its extensive use in the field of Auto steering control.The braking force of the front wheels will be different when an emergency braking occurs on split roads.Meanwhile,as the steering wheel kingpin offset is not zero,differential braking torque will be generated on the steering pinion.It will cause an uncomfortable feeling for drivers when the differential braking torque on the steering pinion is transmitted to the steering wheel.This paper established a differential braking torque observer based on the EPS model,estimated the differential braking torque on the steering pinion and figured out the compensation current by multiplying a torque compensation coefficient to reduce the impact torque on the steering wheel.The vehicle tests showed that the proposed control strategy can effectively reduce the impact torque on the steering wheel caused by differential braking and reduce the uncomfortable feeling caused by it.