摘要：AbstractA systematic approach to identify the steering behavior and to design a nonlinear controller by utilizing experimental data is presented in this contribution. The used measurements of steering maneuvers are recorded in a test vehicle equiped with an electrically powered belt drive steering system. In a first step, the system order is approximated by determining the amplitude and frequency characteristics in the frequency domain through correlation methods. By using step responses a parametric identification of the steering behavior is done in the time domain. The determined model is the basis for the design of a nonlinear controller. Since various parameters which influence the steering behavior are dependent on external environmental factors and highly time invariant, a robust PID controller with gain scheduling and a feed forward is utilized.
关键词：KeywordsAutomotive ControlModelingControlOptimization of Transportation SystemsConnectedAutomated Vehicles
