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Grenoble Images Parole Signal Automatique Collection effective à partir du 1er janvier 2007, date de création du laboratoire GIPSA-lab |
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Grenoble Images Parole Signal Automatique Collection effective à partir du 1er janvier 2007, date de création du laboratoire GIPSA-lab |
| HAL : hal-00642035, version 1 |
| Fiche détaillée |  Récupérer au format |
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| 2011 IEEE Multi-Conference on Systems and Control (MSC 2011), Denver, Colorado : États-Unis (2011) |
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| Oscillation annealing and driver/tire load torque estimation in Electric Power Steering Systems |
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| Javier Tordesillas 1, 2Valentina Ciarla 1, 2 |
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| (27/09/2011) |
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| The paper presents several aspects of modeling, observation and control towards a new generation of Electrical Power Steering(EPS) systems. In particular we design an optimal control to reject oscillations of the steering column, then we device a new observer to estimate the internal state variables of the steering column, the driver applied torque (steering wheel torque), and the load torque (tire/ground contact friction). Finally, we also revisited the LuGre tire dynamic friction model by improving the transient behavior between the sticking phases and the dynamic ones. Simulation of the proposed control and observer are shown at the end of the paper using the improved LuGre-tire friction model. |
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| 1 : | Grenoble Images Parole Signal Automatique (GIPSA-lab) |
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CNRS : UMR5216 – Université Joseph Fourier - Grenoble I – Université Pierre-Mendès-France - Grenoble II – Université Stendhal - Grenoble III – Institut Polytechnique de Grenoble - Grenoble Institute of Technology |
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| 2 : | NeCS (INRIA Grenoble Rhône-Alpes / Gipsa-lab) |
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CNRS : UMR5216 – INRIA – Gipsa-lab – Université Joseph Fourier - Grenoble I – Institut National Polytechnique de Grenoble (INPG) |
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| NECS |
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| Domaine | : | Sciences de l'ingénieur/Automatique / Robotique |
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| Electric Power Steering systems (EPSs) – LQ control – LuGre friction model – observer |
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| Liste des fichiers attachés à ce document : | |||||
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| hal-00642035, version 1 | |
| http://hal.archives-ouvertes.fr/hal-00642035 | |
| oai:hal.archives-ouvertes.fr:hal-00642035 | |
| Contributeur : Carlos Canudas De Wit | |
| Soumis le : Jeudi 17 Novembre 2011, 10:41:24 | |
| Dernière modification le : Vendredi 13 Janvier 2012, 14:19:59 | |
