H ∞ Filtering Design for Driver Torque Estimation in Electric Power Steering System

Kazusa Yamamoto 1, 2 Pascal Moulaire 1 Damien Koenig 2 Olivier Sename 2
2 GIPSA-SLR - SLR
GIPSA-DA - Département Automatique
Abstract : This paper describes a method to estimate the driver torque in an Electric Power Steering (EPS) system without taking into account the torque sensor signal. First, a pinion-type EPS model is expressed by Newton's law of motion considering the effort transmitted from the road as an unknown input. Then, the design of a H ∞ filter is proposed to estimate the driver torque. The formulation aims at minimizing the estimation error in the presence of the external force induced by the road sollicitations and sensor noises. The efficiency of this H ∞ filter is assessed through simulation results using input data gathered from experimental tests on a real car. Furthermore these results are compared with torque measurements obtained on the experimental car for validation purpose only.
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Submitted on : Sunday, September 18, 2016 - 4:25:09 PM
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Kazusa Yamamoto, Pascal Moulaire, Damien Koenig, Olivier Sename. H ∞ Filtering Design for Driver Torque Estimation in Electric Power Steering System. 13th International Symposium on Advanced Vehicle Control, Sep 2016, Munich, Germany. ⟨hal-01367991⟩

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