Control strategy of Electric Power Steering based on estimation of tire-road friction coefficient using UKF

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Journal of Vibration and Shock ›› 2016, Vol. 35 ›› Issue (22) : 123-128.

ZHOU Bing, Song Yitong, FAN Lu

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Abstract

Considering the impact of tire-road friction coefficient on the driver’s steering manipulation, the control strategy of current compensation for Electric Power Steering is designed. For real-time estimation of tire-road friction coefficient, the tire-road friction coefficient observer is established based on the Unscented Kalman Filter theory. Based on the control of conventional Electric Power Steering, taking the tire-road friction coefficient and vehicle speed as input designs fuzzy controller so that the control compensation superimposed current is used to correct the traditional Electric Power Steering. The simulation analysis in MATLAB/Simulink shows that the Unscented Kalman Filter observer can accurately estimate the real time tire-road friction coefficient, and the compensation control strategy of electric power steering current can integrate the information of tire-road friction coefficient, vehicle speed and steering wheel angle, etc. The appropriate power can be generated by power motor so that the driver can obtain good road feel to improve the stability and safety of vehicle.

Key words

Vehicle engineering / Electric Power Steering / Unscented Kalman Filter Observer / Friction coefficient estimation

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ZHOU Bing, Song Yitong, FAN Lu. Control strategy of Electric Power Steering based on estimation of tire-road friction coefficient using UKF[J]. Journal of Vibration and Shock, 2016, 35(22): 123-128

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