alphaClarke InverseTransformabcbetaClarkeTransformabcalphabetaDQ PI Controld_refq_refdqd_fbq_fbPIPIPark InverseTransformdqalphabetaParkTransformalphabetadqiaibicvavbvcTqKKSASBSCSHAFTPMSMspg_assistk=100kinv_ClarkeClarkeDQ_PI_controlKp=40.0inv_ParkParkIdeal_Driverp1radius=0.01gr1gear_ratio=5spg_torque_sensork=100wheel_massm=50steering_forcek=150kgain_inverse_gear_ratioK=0.2gain_amp_per_NmK=3.0steeringmotor_damping0.01frictionForce_fric_static=40Force_fric_kinetic=20d_viscous=10ktorque_assist_tableideal_pmsmspg_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_fbnet63column_angle_radsteering_angle_radnet67rack_diplacementsteering_angle_degnet88pinion_angle_radmotor_trq_cmdsteering_trqqsrc_id0PoleZerotrq_assist_cmdtrq_comp_outlead_comp1.0Fp=100Fz=10.0