Design of a Parameterized Model Predictive Control for Electric Power Assisted Steering

被引：27

作者：

Murilo, Andre ^{[1
]}

Rodrigues, Rafael ^{[1
]}

Silva Teixeira, Evandro Leonardo ^{[1
]}

Dias Santos, Max Mauro ^{[2
]}

机构：

[1] Univ Brasilia, Fac UnB Gama, Engn Automot, Brasilia, DF, Brazil

[2] Univ Tecnol Fed Parana, Dept Eletron, Ponta Grossa, Parana, Brazil

来源：

CONTROL ENGINEERING PRACTICE | 2019年 / 90卷

关键词：

Electric Power Assisted Steering; Model Predictive Control; Real-time implementation; Hardware-in-the-Loop; Steering system; SYSTEM;

D O I：

10.1016/j.conengprac.2019.07.010

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

Electric Power Assisted Steering (EPAS) enables better driver's steering and user experience. It plays an important role for ADAS and automated driving (AD) features. EPAS control strategies are still in infancy entailing continuous monitoring and driver intervention. In fact, EPAS solutions have required more fail-safe strategies and optimal control algorithms for dynamics and road conditions. This paper presents a novel EPAS control strategy based on the parameterized Model Predictive Control (MPC) technique. The parameterized MPC scheme provides low computation effort enabling real-time implementation of the proposed control strategy. Experimental results highlighted success on tracking desired assistant torque without violating predefined operating constraints.

引用

页码：331 / 341

页数：11

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