Systems and methods for optimized position control using friction feedforward compensation

A system for steering system position control, the system comprising:

• a processor;
• and
• a memory including instructions that, when executed by the processor, cause the processor to:
• receive a target angle for a pinion of a rack of a steering system;
• receive an actual angle of the pinion;
• determine an angle error value based on a difference between the target angle and the actual angle;
• provide the angle error value to a proportional-integral-derivative (PID) controller;
• receive a target velocity of the pinion;
• generate a friction compensation value based on the target velocity;
• generate a control command value based on an output of the PID controller and the friction compensation value;
• and
• control at least one aspect of the steering system based on the control command value.

An apparatus for steering system position control, the apparatus comprising:

• a controller configured to:
• receive a target angle for a pinion of a rack of an electronic power steering system;
• receive an actual angle of the pinion;
• determine an angle error value based on a difference between the target angle and the actual angle;
• provide the angle error value to a proportional-integral-derivative (PID) controller;
• receive a target velocity of the pinion;
• determine a temperature scale factor based on at least one temperature value;
• generate a friction compensation value based on the target velocity and the at least one temperature value;
• generate a control command value based on a sum of an output of the PID controller and the friction compensation value;
• and
• control at least one aspect of the electronic power steering system based on the control command value.