Stability-based steering control methods and systems
First Claim
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1. A control system comprising processing circuitry for controlling a steering system to maintain stability of the steering system, comprising:
- an operating conditions module that estimates at least one operating gain based on an operating condition of the steering system;
a stability based blend module that estimates a stability based compensator blend value that is based on a maximum of a phase margin and a gain margin, the phase margin representing an evaluation at a target phase margin for system stability of a first polynomial with phase margin coefficients based on the at least one operating gain, and the gain margin representing an evaluation at a target gain margin for system stability of a second polynomial with gain margin coefficients based on the at least one operating gain; and
an apply blend module that generates a steering assist command to control the steering system based on the stability based compensator blend value.
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Abstract
A control system for controlling a steering system to maintain stability of the steering system is provided. The control system includes an operating conditions module that estimates at least one operating gain based on an operating condition of the steering system. A blend module estimates a blend value based on the at least one operating gain. A steering assist module generates a steering assist command based on the blend value.
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Citations
18 Claims
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1. A control system comprising processing circuitry for controlling a steering system to maintain stability of the steering system, comprising:
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an operating conditions module that estimates at least one operating gain based on an operating condition of the steering system; a stability based blend module that estimates a stability based compensator blend value that is based on a maximum of a phase margin and a gain margin, the phase margin representing an evaluation at a target phase margin for system stability of a first polynomial with phase margin coefficients based on the at least one operating gain, and the gain margin representing an evaluation at a target gain margin for system stability of a second polynomial with gain margin coefficients based on the at least one operating gain; and an apply blend module that generates a steering assist command to control the steering system based on the stability based compensator blend value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 17)
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9. A method of controlling a steering system by processing circuitry to maintain stability of the steering system, comprising:
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estimating at least one operating gain based on at least one operating condition of the steering system; estimating a stability based compensator blend value based on a maximum of a phase margin and gain margin, the phase margin representing an evaluation at a target phase margin for system stability of a first polynomial with phase margin coefficients based on the at least one operating gain, and the gain margin representing an evaluation at a target gain margin for system stability of a second polynomial with gain margin coefficients based on the at least one operating gain; and generating a steering assist command to control the steering system based on the stability based compensator blend value. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 18)
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Specification