Real-Time Co-simulation of Electric Power Steering System

The paper presents a complete electric power steering (EPS) system analyzed on a real-time model in the loop (RTMiL) test platform. The mechanical model of the EPS was built in LMS Amesim software, utilized for modeling and analysis multi-domain systems. Assisting torque needed to steer the vehicle is provided by the Permanent Magnet Synchronous Motor (PMSM). Torque control technique is used to control the assist motor. The models of the motor, control and control logic using linear pattern assistant characteristic were implemented in Matlab/Simulink. In the control logic is taking into account the input torque from the steering wheel and the vehicle velocity, using these values a certain amount of assisting torque is applied. The mechanical model and the models from Simulink were converted to run on the Embedded Controller NI PXI-e S135 processor. The link between the models was made using NI VeriStand, a software environment for configuring real-time test applications.