Electrical power steering with two controllers using uniform steering angle control

Abstract

According to one or more embodiments, a motor control system includes a first controller computing a first torque command using a first closed loop. The motor control system further includes a second controller computing a second torque command using a second closed loop. Both, the first controller and the second controller, compute the respective first torque command and the second torque command using a uniform calculation in which a pseudo/leaky integrator in s domain (s is Laplace variable) is used and integrator state is calculated as Ki*∫e(τ)exp(∈τ−∈t)dτ, in time domain, which is implemented by discretization methods in electric control unit (ECU), where e is a tracking error, Ki is a predetermined integral parameter, and ε is a configurable parameter. The motor control system further includes a motor that receives a torque command for generating corresponding amount of torque based on the first torque command and the second torque command.