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US 12,722,698 B2Granted
System and method of controlling four-wheel independent steering system
AssigneeHyundai Mobis Co., Ltd.
InventorTae Hong Kim
Life of this patent
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Abstract
A control system for a four-wheel independent steering system includes at least one sensor configured to detect at least one of a shift position of a joystick, mounted on the four-wheel independent steering system, or a driving speed of a vehicle, and a position controller configured to control a position of the joystick based on sensing data detected by the at least one sensor.
Claims9
A control system for a four-wheel independent steering system, the control system comprising:
- at least one sensor configured to detect at least one of a shift position of a joystick, mounted on the four-wheel independent steering system, or a driving speed of a vehicle;
- and
- a position controller configured to control a position of the joystick based on sensing data detected by the at least one sensor,
- wherein the position controller comprises a disturbance observer (DOB) configured to model the position of the joystick as a first-order function based on a steering angle error value resulting from a difference between a current steering angle and a target steering angle of the joystick and disturbance caused by yaw rates or lateral forces generated during driving of the vehicle to generate a joystick transfer function, to convert the generated joystick transfer function into an inverse transfer function and pass the inverse transfer function through a Q-filter, and to perform feedback control based on an output of the inverse transfer function passed through the Q-filter to compensate for a command current.
1 more element
A method of controlling a four-wheel independent steering system, the method comprising steps of:
- detecting, by at least one sensor, at least one of a shift position of a joystick, mounted on the four-wheel independent steering system, or a driving speed of a vehicle;
- and
- controlling, by a position controller, a position of the joystick based on sensing data detected by the at least one sensor,
- wherein the step of controlling comprises
- modeling the position of the joystick as a first-order function based on a steering angle error value resulting from a difference between a current steering angle and a target steering angle of the joystick and disturbance caused by yaw rates or lateral forces generated during driving of the vehicle to generate a joystick transfer function, converting the generated joystick transfer function into an inverse transfer function and pass the inverse transfer function through a Q-filter, and performing feedback control based on an output of the inverse transfer function passed through the Q-filter to compensate for a command current.
2 more elements
Dependencies are inferred from the claim text.