spg_assistk=100kalphaClarke InverseTransformabcbetainv_ClarkeClarkeTransformabcalphabetaClarkeDQ PI Controld_refq_refdqd_fbq_fbPIPIDQ_PI_controlKp=40.0Park InverseTransformdqalphabetainv_ParkParkTransformalphabetadqParkqsrc_id0iaibicvavbvcIdeal_Driverp1radius=0.01gr1gear_ratio=5spg_torque_sensork=100Tqwheel_massm=50steering_forcek=150kKgain_inverse_gear_ratioK=0.2Kgain_amp_per_NmK=3.0steeringmotor_damping0.01frictionForce_fric_static=40Force_fric_kinetic=20d_viscous=10ktorque_assist_tableSASBSCSHAFTPMSMideal_pmsms + bs + aKlead_lag_comp1.0Fp=100Fz=10.0spg_r3k=100kcolumn_damping0.1column_inertia0.001theta_shafttheta_shaft_fbmotor_iq_cmdid_cmdv_d_drvv_q_drvv_alpha_drvv_beta_drvvavbvcva_drvvb_drvvc_drvi_alphai_betaia_fbib_fbic_fbid_fbiq_fbcolumn_angle_radsteering_angle_radsteering_trqrack_diplacementtrq_assist_cmdsteering_angle_degmotor_trq_cmdtrq_comp_outpinion_angle_rad