Research Papers

Oscillation in Electric Power Steering Test Torque Due to Universal Joint Angle and Control Strategy

[+] Author and Article Information
Zhong-Xing Yang

School of Mechanical Engineering,
University of Shanghai for Science and Technology,
Shanghai 200093, China
e-mail: fivemiles555@163.com

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received July 24, 2012; final manuscript received April 29, 2013; published online July 9, 2013. Assoc. Editor: Gregory Shaver.

J. Dyn. Sys., Meas., Control 135(5), 051017 (Jul 09, 2013) (7 pages) Paper No: DS-12-1236; doi: 10.1115/1.4024476 History: Received July 24, 2012; Revised April 29, 2013

To perform torque load test on an active EPS (electric power steering) system, the EPS column is required to make a user-defined angular displacement under a user-defined test load applied at the end of the pinion shaft. As universal joints are used in the EPS system for spatial arrangement, the angular velocity and torque on the driven shaft vary twice from those on the driving shaft in one rotation circle. This introduces a fluctuation in the velocity and torque on the driven shaft at a frequency twice that of the shaft rotation. The angular acceleration of the pinion shaft exerts on the coupling an inertia load which prevents the required load from precise transmission. To eliminate the oscillatory deviation in the test load applied at a target position in a multibody rotation system while not changing the shafts axes angle arrangement, a control strategy based on a proportional integral derivative controller (PID) with compensation using rotary acceleration feedback, newly developed for torque control, is discussed in this paper. The load control at a target point is achieved by modifying the torque input with a compensation signal to cancel out the oscillatory deviation in the test load.

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Grahic Jump Location
Fig. 1

Systematic layout and modeling of the EPS test bench

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Fig. 2

Lateral load caused by joint angle

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Fig. 3

Ti with α1 = 0 deg or 60 deg

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Fig. 4

Ti with α1 = 20 deg, 40 deg, or 60 deg in frequency domain

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Fig. 5

Controller unit of the torque loading

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Fig. 6

Ti and inertia load in time and frequency domain

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Fig. 7

Ti with or without compensation



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