Title :
Application of robust 2 degree-of-freedom control to an Active Steering Wheel System (ASWS)
Author :
Xiao-Dong Sun ; Furmston, Paul ; Xiaoming Shen
Author_Institution :
TRW Conekt, Solihull, UK
Abstract :
The paper presents the application of robust 2 degree of freedom (2-DOF) control to the torque-feel control of an Active Steering Wheel System (ASWS). The control development used experimental based identification modelling, advanced model reduction and robust 2DOF loopshaping control techniques that produced a low-order 2-DOF robust controller for steering torque-feel control. The robust controller and control system performance were examined and validated by stability & control performance simulation in Matlab as well as extensive bench and driver-in-loop function tests. The results demonstrate the desirable control performance by the robust 2-DOF control in both the bandwidth torque tracking control and system robustness to system uncertainty and external disturbances.
Keywords :
position control; reduced order systems; road traffic control; robust control; steering systems; torque control; uncertain systems; wheels; ASWS; active steering wheel system; bandwidth torque tracking control; driver-in-loop function test; experimental based identification modelling; low-order 2-DOF robust controller; model reduction; robust 2 degree-of-freedom control; robust 2DOF loopshaping control; stability; steering torque-feel control; system uncertainty; 2-DOF Control; Active Steering Wheel System; Experimental Modelling; H∞; Model Reduction; Model-based Calibration; Robust Control System; System Identification Modelling; control;
Conference_Titel :
Control 2010, UKACC International Conference on
Conference_Location :
Coventry
Electronic_ISBN :
978-1-84600-038-6
DOI :
10.1049/ic.2010.0426
