Modeling, analysis, and control of electric power steering (EPS) system of an intelligent vehicle

Abstract

This thesis will discuss the Electric Power Steering (EPS) system which has become the state of the art in the automotive industry. For many years, the Hydraulic Steering system has been adopted by all automobile manufacturers for its reliability and simple control. However, recently the concept of Electric Power Steering system has become widely known and used with the advancement of the integrated circuits, power electronics and control strategies. The EPS system uses a DC motor to deliver an assist torque to the steering mechanism, as a result, the driver will put less effort in order to turn the driving wheels. The thesis will introduce the mathematical modelling of the EPS system and continue to introduce various control schemes which will be compared together to find the best control strategy.