EPS Current Tracking Method Research Based on Hybrid Sensitivity Control Algorithm

Table 1

Simulation experimental parameters.

Parameter name	Variable name	Unit	Numerical value
Torsional rigidity of motor sensor		N m/rad	90
Back EMF coefficient		v s	0.02
Motor torque coefficient		N m/A	0.02
Steering wheel moment of inertia		kg m^2	0.04
Equivalent moment of inertia		kg m^2	0.06
Equivalent damping coefficient of steering shaft		N m/(rad s^−1)	0.25
Small gear equivalent damping coefficient		N m/(rad s^−1)	0.3
Motor armature resistance		Ω	0.01
Mass of vehicle	m	kg	1296
The moment of inertia around the plumb shaft of vehicle		kg m^2	1750
Cornering stiffness of front wheel		N/rad	95707
Cornering stiffness of rear wheel		N/rad	84243
The distance from the front wheel to the center of mass	a	m	1.25
The distance from the rear wheel to the center of mass	b	m	1.32
Coefficient of pavement interference intensity			0.2
Front wheel trailing distance	d	m	0.1