Development of Compensation Logic for EPS in Limit Cornering Condition 2019-01-1422
This paper describes steering returnability by analyzing forces applied to kingpin axis in limit cornering condition. The steering returnability is related to forces applied to kingpin axis. These forces could be classified by its source: Tire force and steering force. Tire force is the force generated from tire such as longitudinal, lateral, vertical force, and self-aligning torque. Steering force consists of friction force and assist force. These forces are vectorized by suspension geometry and calculated with respect to kingpin axis. The simulation results are compared to measurement data and verifies that steering returnability can be formulated by tire forces and steering forces. Using these relations it was proposed new steering control logics at limit driving condition This logic is verified by simulation model to check performance and confirmed in various test conditions for robustness.