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Design of Electric Power Steering System for a Self-Driving Car
Rodi Hartono(허르토노 로디),Tshibang Patrick A Kalend(트쉬벵 패트릭 에칼렌드),Hyun-Rok Cha(차현록),Kyoo-Jae Shin(신규재) 대한전자공학회 2023 대한전자공학회 학술대회 Vol.2023 No.6
This paper presents the design of a proportionalintegral-derivative (PID) control algorithm for the electric power steering system (EPS) for a selfdriving car. The system comprises of a steering rack with a brushless direct current (BLDC) motor as an actuator, utilizing the six-step trapezoidal as commutation method. To observe the electrical and mechanical model of the EPS, an identification system is employed. The results show that the PID control algorithm provides a stable and accurate steering response met the design criterion.