DISTURBANCE FEEDFORWARD COMPENSATION FOR POSITION CONTROL IN STEERING SYSTEMS
First Claim
1. A steering system comprising:
- a position controller generates a torque command based on an input rack-position command and a measured position command;
a disturbance estimator that estimates a rack force acting on a rack;
an adder that generates an adjusted torque command by adding the rack force that is estimated into the torque command; and
an actuator that positions the rack according to the adjusted torque command.
1 Assignment
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Accused Products
Abstract
Technical solutions are described for disturbance feedforward compensation technique for improving the disturbance rejection properties of a closed loop position control system. According to one or more embodiments, a steering system includes a position controller that generates a torque command based on an input rack-position command and a measured position command. Further, a disturbance estimator that estimates a rack force acting on a rack, and an adder generates an adjusted torque command by adding the rack force that is estimated into the torque command. The steering system further includes an actuator that positions the rack according to the adjusted torque command.
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Citations
20 Claims
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1. A steering system comprising:
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a position controller generates a torque command based on an input rack-position command and a measured position command; a disturbance estimator that estimates a rack force acting on a rack; an adder that generates an adjusted torque command by adding the rack force that is estimated into the torque command; and an actuator that positions the rack according to the adjusted torque command. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method comprising:
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generating, by a position controller, a torque command based on an input rack-position command; estimating, by a disturbance estimator, a rack force acting on a rack; generating an adjusted torque command by adding the rack force that is estimated into the torque command; and positioning, by a motor, the rack according to the adjusted torque command that is applied to the motor. - View Dependent Claims (10, 11, 12, 13, 14)
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15. A steering system comprising:
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a rack; a motor; and a rack positioning system configured to perform a method comprising; generating a torque command based on an input rack-position command; estimating a rack force acting on a rack; generating an adjusted torque command by adding the rack force that is estimated into the torque command; and positioning the rack according to the adjusted torque command that is applied to the motor. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification