전기 구동 조향 시스템 타입에 따른 백스테핑 제어 성능 비교

Abstract

In this paper, we present backstepping control for steering angle control in column-mounted electric power steering system(C-EPS) and rack-mounted electric power steering system(R-EPS). For compensating external uncertain disturbance, Observer was designed as an augmented form. We utilized EPS system which is reformulated as the second-order equation by eliminating column bar dynamics. The proposed method was compared according to type of electric power steering system, which was validated with numerical simulations which consist of MATLAB/Simulink.