A method and a control system for controlling an electric power assist steering system

摘要

A steering system (10) and method for controlling the steering of a vehicle having a steering assembly including a steering wheel, a steering column connected to said steering wheel, and an electric motor operatively engaged with the steering assembly for supplying torque assist are disclosed. A steering angle sensor (32) is employed for sensing an angular position &thetas;c of the steering column. The steering system uses first and second H-infinity controllers (64A and 64B) coupled in a feedback path (44) for generating first and second feedback signals as a function of the driver torque and first and second characteristics JC and KC of the steering system. One of the first and second feedback signals is selected and the selected feedback signal is combined with a feedforward signal to generate a motor control signal U as a function of the estimated torque. <IMAGE>