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alpha
Clarke Inverse
Transform
a
b
c
beta
Clarke
Transform
a
b
c
alpha
beta
DQ PI Control
d_ref
q_ref
d
q
d_fb
q_fb
PI
PI
Park Inverse
Transform
d
q
alpha
beta
Park
Transform
alpha
beta
d
q
ia
ib
ic
va
vb
vc
Tq
K
K
s + b
s + a
K
SA
SB
SC
SHAFT
MS - IPM
EPS
spg_assist
k=100k
inv_Clarke
Clarke
DQ_PI_control
Kp=40.0
inv_Park
Park
qsrc_id
0
Ideal_Drive
rp1
radius=0.01
gr1
gear_ratio=5
spg_torque_sensor
k=100
wheel_mass
m=50
steering_force
k=150k
gain_inverse_gear_ratio
K=0.2
gain_amp_per_Nm
K=3.0
steering
motor_damping
0.01
friction
Force_fric_static=40
Force_fric_kinetic=20
d_viscous=10k
torque_assist_table
lead_lag_comp
1.0
Fp=100
Fz=10.0
spg_r3
k=100k
column_damping
0.1
column_inertia
0.001
PMSM
theta_shaft
theta_shaft_fb
motor_iq_cmd
id_cmd
v_d_drv
v_q_drv
v_alpha_drv
v_beta_drv
va
vb
vc
va_drv
vb_drv
vc_drv
i_alpha
i_beta
ia_fb
ib_fb
ic_fb
id_fb
iq_fb
column_angle_rad
steering_angle_rad
rack_diplacement
trq_assist_cmd
steering_angle_deg
motor_trq_cmd
trq_comp_out
pinion_angle_rad
steering_trq