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Fig 1.

EPS system structural.

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Fig 1 Expand

Fig 2.

Ideal assisted power steering curve.

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Fig 2 Expand

Fig 3.

Linear single-track dynamics model.

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Fig 3 Expand

Fig 4.

Control system diagram.

a) Control scheme, b) Optimal algorithm workflow.

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Fig 4 Expand

Fig 5.

Simulation conditions.

a) Driver torque, b) External disturbances torque.

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Fig 5 Expand

Table 1.

Simulation specifications.

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Table 1 Expand

Fig 6.

Simulation result (1st case, v1).

a) Steering column angle, b) Steering motor angle, c) Steering column speed, d) Steering motor speed, e) Motor current, f) Assisted torque.

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Fig 6 Expand

Table 2.

Simulation results (1st case).

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Table 2 Expand

Fig 7.

Simulation result (1st case, v2).

a) Steering column angle, b) Steering motor angle, c) Steering column speed, d) Steering motor speed, e) Motor current, f) Assisted torque.

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Fig 7 Expand

Fig 8.

Simulation result (1st case, v3).

a) Steering column angle, b) Steering motor angle, c) Steering column speed, d) Steering motor speed, e) Motor current, f) Assisted torque.

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Fig 8 Expand

Fig 9.

Simulation result (2nd case, v1).

a) Steering column angle, b) Steering motor angle, c) Steering column speed, d) Steering motor speed, e) Motor current, f) Assisted torque.

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Fig 9 Expand

Fig 10.

Simulation result (2nd case, v2).

a) Steering column angle, b) Steering motor angle, c) Steering column speed, d) Steering motor speed, e) Motor current, f) Assisted torque.

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Fig 10 Expand

Fig 11.

Simulation result (2nd case, v3).

a) Steering column angle, b) Steering motor angle, c) Steering column speed, d) Steering motor speed, e) Motor current, f) Assisted torque.

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Fig 11 Expand

Table 3.

Simulation results (2nd case).

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Table 3 Expand