Abstract
We modeled the system as an equivalent three-inertia system and found out that the intercepts of the steering angle axis in the steering angle-torque characteristic diagram are caused by coulomb frictions and elastic deformations. Through a quasi-static analysis of the model, we formulated an assist control method and how to create a set of maps for the control method so that it compensates the effect of coulomb frictions and elastic deformations and realizes objective characteristics. We tested the proposed method by numerical simulation and an experimental bench.
