# American Institute of Mathematical Sciences

## Modeling and control algorithm design for power-assisted steering stability of electric vehicle

 1 Automotive Engineering Department, Xingtai Polytechnic College, Xingtai 054035, China 2 Department of Business Administration, University of Science and Technology, Anshan 114051, China

* Corresponding author: Dayong Xu

Received  March 2019 Revised  April 2019 Published  December 2019

In the traditional power-assisted steering stability modeling and control algorithm based on PID, power control is achieved based on the filtering results of PID control signal, it lacks of road control process in the process of assisted control, with poor real-time control and low stability. In this paper, a new power-assisted steering stability modeling and control algorithm of electric vehicle is designed. Firstly, a power-assisted steering stability model of electric vehicle is constructed, to analyze the basic structure and working principle of the electric power steering (EPS) system, then a mathematical model of the EPS system is constructed. On this basis, the Simulink tool is used to establish simulation models for each subsystem of EPS. In the process of designing the control algorithm, the P algorithm and the PD algorithm are used to control the power, and the road model of the two algorithms is constructed. The steering gear ratio, the electromagnetic torque coefficient and the boosting current gain coefficient in the road model are adjusted to realize the electric vehicle assisted control. It is proved by experiments that the angle pulse input and the lateral accelerations of steady-state rotation of the electric vehicle under the control of the designed algorithm are $-0.4$ g to $-0.3$ g and $-0.33$ g to $-0.72$ g, and the yaw rate is $-3$ deg/sec to 17.5 deg/sec and 22 deg/sec to 34 deg/sec, respectively, indicating that the electric vehicle has a high dynamic response and stability under the control of the designed algorithm.

Citation: Xinwen Luo, Weize Liu, Zhiyi Huo, Dayong Xu. Modeling and control algorithm design for power-assisted steering stability of electric vehicle. Discrete & Continuous Dynamical Systems - S, doi: 10.3934/dcdss.2020205
##### References:
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##### References:
 [1] Y. Ahmad, U. Ali, M. Bilal, S. Zafar and Z. Zahid, Some new standard graphs labeled by 3-total edge product cordial labeling, Applied Mathematics and Nonlinear Sciences, 2 (2017), 61-72.  doi: 10.21042/AMNS.2017.1.00005.  Google Scholar [2] H. Aouzellag, K. Ghedamsi and D. Aouzellag, Energy management and fault tolerant control strategies for fuel cell/ultra-capacitor hybrid electric vehicles to enhance autonomy, efficiency and life time of the fuel cell system, International Journal of Hydrogen Energy, 40 (2015), 7204-7213.  doi: 10.1016/j.ijhydene.2015.03.132.  Google Scholar [3] Y. L. Cao, Z. Cao and L. Y. Xu, Research on the stability control simulation of electric vehicle steering motor based on road, Computer Simulation, 34 (2017), 132-136.   Google Scholar [4] J. L. F. Daya, P. Sanjeevikumar and F. Blaabjerg, Implementation of wavelet-based robust differential control for electric vehicle application, IEEE Transactions on Power Electronics, 30 (2015), 6510-6513.  doi: 10.1109/TPEL.2015.2440297.  Google Scholar [5] X. Du, K. K. K. Htet and K. K. Tan, Development of genetic-algorithm-based nonlinear model predictive control scheme on velocity and steering of autonomous driving vehicles, IEEE Transactions on Industrial Electronics, 63 (2016), 1-1.   Google Scholar [6] H. Fu and X. Liu, Research on the phenomenon of chinese residents spiritual contagion for the reuse of recycled water based on sc-iat, Water, 9 (2017), 846. Google Scholar [7] W. Gao and W. Wang, New isolated toughness condition for fractional (g, f, n) - critical graph, Colloquium Mathematicum, 147 (2017), 55-65.  doi: 10.4064/cm6713-8-2016.  Google Scholar [8] Y. Gao, Y. Shen and T. Xu, Oscillatory yaw motion control for hydraulic power steering articulated vehicles considering the influence of varying bulk modulus, IEEE Transactions on Control Systems Technology, 27 (2019), 1284-1292.  doi: 10.1109/TCST.2018.2803746.  Google Scholar [9] T. Goggia, A. Sorniotti and L. D. Novellis, Integral sliding mode for the torque-vectoring control of fully electric vehicles: Theoretical design and experimental assessment, IEEE Transactions on Vehicular Technology, 64 (2015), 1701-1715.  doi: 10.1109/TVT.2014.2339401.  Google Scholar [10] R. A. Hanifah, S. F. Toha and S. Ahmad, Swarm-intelligence tuned current reduction for power assisted steering control in electric vehicle, IEEE Transactions on Industrial Electronics, 65 (2018), 7202-7210.  doi: 10.1109/TIE.2017.2784344.  Google Scholar [11] M. Y. Huang, T. Chi, F. Wang and e. al., An all-passive negative feedback network for broadband and wide field-of-view self-steering beam-forming with zero dc power consumption, IEEE Journal of Solid-State Circuits, 52 (2017), 1260-1273.  doi: 10.1109/JSSC.2016.2641947.  Google Scholar [12] J. Jang, M. L. Jin and S. G. Cho, e. al., Space-time kriging surrogate model to consider uncertainty of time interval of torque curve for electric power steering motor, IEEE Transactions on Magnetics, 54 (2018), 8200804. doi: 10.1109/TMAG.2017.2755459.  Google Scholar [13] J. S. Kang, F. Jiang, Z. M.Zhong and e. al., Overviews of flux weakening control schemes with permanent magnet synchronous motor used in electric vehicles, Journal of Power Supply, 15 (2017), 15-22.   Google Scholar [14] W. Kim, Y. S. Son and C. C. Chung, Torque-overlay-based robust steering wheel angle control of electrical power steering for a lane-keeping system of automated vehicles, IEEE Transactions on Vehicular Technology, 65 (2016), 4379-4392.  doi: 10.1109/TVT.2015.2473115.  Google Scholar [15] D. Lee, K. S. Kim and S. Kim, Controller design of an electric power steering system, IEEE Transactions on Control Systems Technology, 26 (2018), 748-755.  doi: 10.1109/TCST.2017.2679062.  Google Scholar [16] L. L. Liao and H. B. Li, Application of interpolation algorithm in vehicle volume detection in oil tank, Automation and Instrumentation, (2015), 95–95. Google Scholar [17] C. Mi, J. Wang, W. Mi, Y. Huang, Z. Zhang, Y. Yang, J. Jiang and P. Octavian, An aimms-based decision-making model for optimizing the intelligent stowage of export containers in a single bay, Discrete and Continuous Dynamical Systems Series S, 12 (2019), 1101-1115.   Google Scholar [18] V. V. Rostov, I. V. Romanchenko and A. V. Gunin, Review of experiments on microwave beam steering in arrays of high-power oscillators by the control of voltage rise time, IEEE Transactions on Plasma Science, 46 (2018), 3640-3647.  doi: 10.1109/TPS.2018.2810824.  Google Scholar [19] B. Sun, T. Dragivȩvić and F. D. Freijedo, A control algorithm for electric vehicle fast charging stations equipped with flywheel energy storage systems, IEEE Transactions on Power Electronics, 31 (2016), 6674-6685.  doi: 10.1109/TPEL.2015.2500962.  Google Scholar [20] Y. B. Wang, H. X. Yang and L. Geng, Research on the surface quality stability of ultra thin germanium polished wafers, Journal of China Academy of Electronics and Information Technology, 11 (2016), 527-531.   Google Scholar [21] F. Wilhelm, T. Tamura and R. Fuchs, Friction compensation control for power steering, IEEE Transactions on Control Systems Technology, 24 (2016), 1354-1367.  doi: 10.1109/TCST.2015.2483561.  Google Scholar [22] T. Yang, A new control framework of electric power steering system based on admittance control, IEEE Transactions on Control Systems Technology, 23 (2015), 762-769.   Google Scholar [23] D. Yu, H. Liu and C. Bresser, Peak load management based on hybrid power generation and demand response, Energy, 163 (2018), 969-985.  doi: 10.1016/j.energy.2018.08.177.  Google Scholar [24] Z. Zhang, X. Zhang and H. Pan, A novel steering system for a space-saving 4ws4wd electric vehicle: Design, modeling, and road tests, IEEE Transactions on Intelligent Transportation Systems, 18 (2017), 114-127.  doi: 10.1109/TITS.2016.2561626.  Google Scholar [25] Z. Zhao, L. Zhou and e. a. Luo Y., Emergency steering evasion assistance control based on driving behavior analysis, IEEE Transactions on Intelligent Transportation Systems, 20 (2019), 457-475.  doi: 10.1109/TITS.2018.2814687.  Google Scholar
Force analysis diagram of EPS system
General block diagram of ESP system simulation model
Torque comparison diagram of steering wheel input
Comparison of lateral acceleration of corner pulse input
Comparison of angular pulse input yaw rate
Torque comparison diagram of step input steering wheel
Comparative diagram of lateral acceleration of corner step input
Comparison of the yaw rate of step input
Contrast diagram of lateral acceleration at low speed steering
Comparison of yaw rate for low speed steering return
Lateral acceleration contrast diagram of high speed steering alignment
Comparison of yaw rate for high speed steering return
Contrast diagram of lateral acceleration for steady rotation
Comparative diagram of yaw rate for steady rotation
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