Abstract:In the integrated system of Electric Power Steering and Active Front Steering, the additional front road wheel angle generated by AFS gives rise to the change of tire lateral force, which results in the change of steering wheel torque finally. Although the tire force is hard to be measured directly, we can estimate it using Extended Kalman Filter (EKF) algorithm. This method can resolve the problem of steering wheel torque change. The vehicle nonlinear mathematical model is presented and a nonlinear tire lateral force estimator is also established basing on EKF. We can use the estimated tire lateral force to compensate the abrupt change of steering wheel torque, which realizes the combination of vehicle states estimation and vehicle control. The simulation results in MATLAB/Simulink show the effectiveness of proposed control strategy.
周兵,徐蒙,范璐. 基于EKF轮胎侧向力估计的AFS和EPS集成控制[J]. 振动与冲击, 2015, 34(11): 93-98.
ZHOU Bing, XU Meng, FAN Lu. Integrated Control of Active Front Steering and Electric Power Steering with EKF Estimation Of Lateral Force. JOURNAL OF VIBRATION AND SHOCK, 2015, 34(11): 93-98.
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