Modeling and simulation of eletric vehicle power steering

Elektroničko upravljanje vozilom ima niz prednosti nad hidrauličkim servom, a to je da je ekološki i tehnološki prihvatljiviji, ima manje komponenata te mogućnost modificiranja prema stilu vožnje. Postoje tri izvedbe EPAS-a, a razlika im je mjesto na kojem se nalazi elektromotor. Detaljno je opisana kontrola upravljanja te prikazana na primjeru. C-EPAS sustav je opisan diferencijalnim jednažbama te je svaka komponenta objašnjena (u svrhu simulacije u programskom paketu Matlab). Elektromotor je opisan i prikazan diferencijalnim jednažbama s istom svrhom. Sve jednažbe su prikazane u prostoru stanja koji je implementiran u sami kod. Prikazana je simulacija sa različitim ulaznim vrijednostima momenta kojeg vrši vozač te na osnovu toga su prikazane različite jakosti struje koje mu pomažu pri vožnji. Dobivena su različiti odzivi sustava (brzina i ubrzanje gornjeg dijela vratila, brzina i ubrzanje donjeg dijela vratila, itd.).Electronic vehicle control has a number of advantages over hydraulic power steering, namely that it is more environmentally and technologically acceptable, has fewer components and the ability to modify according to driving style. There are three versions of EPAS, and the difference is where the electric motor is located. The control is described in detail and illustrated. The C-EPAS system is described by differential equations and each component is explained (for the purpose of simulation in the Matlab software package). The electric motor is described and represented by differential equations for the same purpose. All equations are displayed in the state space implemented in the code itself. A simulation with different input values of the torque performed by the driver is shown, and based on that, different current strengths are shown to help him drive. Different system responses were obtained (upper shaft speed and acceleration, lower shaft speed and acceleration, etc.)