Robust H∞ control of electric power steering system based on PI current loop
1.School of Mechanical and Automotive Engineering,Zhejiang University of Science and Technology,Hangzhou,Zhejiang 310023,China;2.School of Automobile and Traffic Engineering,Jiangsu University,Zhenjiang,Jiangsu 212013,China
Abstract：Based on the classical PI strategy of close-loop current control for the electromotor,with H∞ mixed sensitivity analysis,the robust H∞ controller to EPS system was established by utilizing EPS transfer functions.The effect of this controller was studied by simulation using Matlab/Simulink.The results indicate that the controller can enhance low frequency noise,depress high frequency and attenuate noise of torque sensor in a wide frequency band.Because the noise measured by torque sensor is far less than the set value in simulation,the designed control system for EPS system shows good robust performances in assisted tracking and anti-disturbance,and it will greatly enhance the return ability,driver′s steering feel,and handling characteristic.
李强, 何仁. 基于PI电流环电动助力转向系统的鲁棒H∞控制[J]. 江苏大学学报（自然科学版）, 2009, 30(2): 138-142.
Li Qiang, He Ren. Robust H∞ control of electric power steering system based on PI current loop[J]. Journal of Jiangsu University(Natural Science Eidtion)
, 2009, 30(2): 138-142.
2009, Vol. 30 
