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차량 조종 안정성 향상을 위한 MDPS 제어 알고리즘 개발
고상진(Sang-Jin Ko),오세욱(Se-Wook Oh),구은경(Eun-Kyung Gu),남광수(Kwang-Soo Nam) 한국자동차공학회 2009 한국자동차공학회 학술대회 및 전시회 Vol.2009 No.11
In this paper, we suggest new control algorithms of motor driven power steering (MDPS) system to improve steering maneuverability. Conventional MDPS system supports a driver to steer easily through an electric motor. Therefore, it is possible to stabilize vehicle movement by applying additional control algorithms to conventional MDPS system without any other equipment. Proposed control algorithms allow MDPS system to distinguish vehicle state independently without other systems, such as electronic stability control (ESC) system and stabilize vehicle movement through additional torque. Proposed algorithms consist of three algorithms - road surface detection algorithm, handling compensation algorithm and yaw compensation algorithm. First, road surface detection algorithm is to distinguish road surface through estimated alignment torque and to calculate surface index (SI) as a new vehicle state. SI is obtained by difference between of reference alignment torque on high-μroad and on driving road. Handling compensation algorithm and yaw compensation algorithm generate additional torque, which make vehicle movement more stable, using SI. Handling compensation algorithm functions to improve steering maneuver in a nonlinear region where the alignment torque is saturated and prevent over and under steering. yaw compensation algorithm enables to return a steering wheel more rapidly and improve yaw stability. We have implemented this algorithm in ECU of MDPS system and conducted an actual vehicle test to verify performances of proposed control algorithms. Test results were compared with test results of conventional MDPS system and it proves vehicle stability improvement of proposed control algorithms.
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