EPS System of Tractor Automatic Driving: An Improved LMI with Mixed Sensitivity Control Method

Table 1

Engineering parameters of EPS system components.

Project	Parameter	Symbol	Values
Motor parameter	Moment of inertia of motor (kg m^2)	Im	0.00018
	Viscous damping coefficient of motor (N m s/rad)	Cm	0.003399
	Resistance (Ω)	R	1/6
	Back EMF constant (V/rad^−1)	Kd	0.057
	Electromagnetic torque constant (N m/A)	Ka	0.04
	Rigidity coefficient of motor (N M/rad^−1)	Km	125
Steering wheel and column parameters	Moment of inertia (kg/m^2)	Ih	0.0012
	Viscosity damping coefficient (N m s/rad)	Ch	0.261
	Torsional stiffness of torsion bar (N m/rad)	Ks	84.33
Output shaft parameters	Moment of inertia (kg/m^2)	Ie	0.001
	Viscosity damping coefficient (N m s/rad)	Ce	0.031
	Reduction ratio of worm gear reducer	N	16.5
Rack and pinion parameters	Mass (kg)	Mr	0.89
	Viscosity damping coefficient (N s)	Cr	200
	Steering pinion radius (m)	rp	0.007