Assistance Quality Analysis and Robust Control of Electric Vehicle with Differential Drive Assisted Steering System

Abstract

As a novel power steering technology, Differential Drive Assisted Steering (DDAS) technology for the independent-wheel-drive electric vehicle has gradually appealed to researcher's attention. However, the previous experimental results show that its assistance quality cannot be fully accepted due to its caused sensitive steering wheel torque fluctuation in actual work environment. According to the working principle of the DDAS system, it is founded that the road roughness, the front wheel alignment parameters and sensor noise are the main factors that influence the quality of assisted steering and driver's road feel. Hence the three factors are added as interference into the ideal vehicle model. The simulation results and its comparison with the previous real vehicle tests confirm this causality between these factors considered and the steering wheel torque fluctuation of the DDAS system. Then a robust H_{\infty } loop-shaping controller is designed to solve the issue caused by these inner interferences and outer noises. Simulations results validate the proposed controller and show better steering wheel torque performance than the traditional anti-windup PID controller published in the literature earlier. The proposed robust controller is further verified via real vehicle tests and the results are similar to the simulation results which can effectively suppress the steering wheel torque ripple, improve the anti-interference ability of DDAS system and greatly improve the driver's road feel.