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System Identification and Control Strategy on Electric Power Steering DC Motor

Journal of Robotics and Control (JRC) · Vol. 5 No. 3 (2024) · hlm. 655–666

DOI
10.18196/jrc.v5i3.21614
ISSN
2715-5072, 2715-5056
Terbit
2024-03-25
Penerbit
Universitas Muhammadiyah Yogyakarta
Bahasa
eng

Abstrak

Power steering technology help human to control the car. The hydraulic power steering system now tends to be replaced by the electric power steering system (EPS). As the main driver that require precise control. The contribution of this research is to obtain system identification of EPS motor and novelty control strategy to achieve stable control better. Motor control require an appropriate mathematical model and up-down-up down signals of Pseudo Random Binary Signal Sequence (PRBS) were used. The modelling method used was the Numerical Algorithm for Subspace State Space System Identification (N4SID). The quality of the modeling needs to be measured to see whether it was close to the original signal. The validation of the model obtained tested using Variance Accounted For (VAC), Akaike Information Criterion (AIC), and Final Prediction Error (FPE). The best mathematical model was developed on the basis of these three criteria, which is 3rd order model. The control strategy carried out by means of the Ziegler Nichols, Tyreus Luyben and Haugen tuning technique. With these three tuning methods, the control parameters obtained were used for Proprotional-Integral (PI) and Proportional-Integral-Derivative (PID) control. Based on the study, the Haugen control shows the best results of the two other controls, namely with a rise time value of 11,361 ms, overshoot of 6,898%, and steady state at 1.3 s. This show that PI control using the Haugen tuning method able to control the motor well. Robustness tests have also been carried out because the steering system is operated in unpredictable environmental conditions. The control greatly influenced the performance and stability of EPS control in the car's steering system.

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  • Sultan Agung Islamic University
  • Sriwijaya University
  • IPB University
  • Universitas Islam Negeri Alauddin Makassar
  • Universitas Islam Negeri Kiai Ageng Muhammad Besari Ponorogo
  • Lampung University
  • Universitas Halu Oleo
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Rekan penulisOrganisasiArtikel bersama
Zainuddin NawawiSriwijaya University5
Bhakti Yudho SupraptoSriwijaya University5
Muhamad HaddinAfiliasi tidak diketahui3
Sri Arttini Dwi PrasetyowatiSultan Agung Islamic University2
Ujang SumarwanIPB University1
Herry PurnomoAfiliasi tidak diketahui1
JOHANNES W WAHONOAfiliasi tidak diketahui1
BAMBANG DWI WIJANARKOAfiliasi tidak diketahui1
Darsul S. PuyuUniversitas Islam Negeri Alauddin Makassar1
Subehan Khalik UmarAfiliasi tidak diketahui1
Hasdin HanisAfiliasi tidak diketahui1
Muhammad AbiliAfiliasi tidak diketahui1
Lukman SantosoUniversitas Islam Negeri Kiai Ageng Muhammad Besari Ponorogo1
Akhmad FauziAfiliasi tidak diketahui1
Baba BarusAfiliasi tidak diketahui1
Tiara Aprilia Putri HernandaAfiliasi tidak diketahui1
- FitrianiAfiliasi tidak diketahui1
Abu Hasan As-SadiliAfiliasi tidak diketahui1
Slamet Budi YuwonoLampung University1
Hiroaki SomuraAfiliasi tidak diketahui1
Dermiyati DermiyatiAfiliasi tidak diketahui1
Novi RosantiAfiliasi tidak diketahui1
Shima KazutoAfiliasi tidak diketahui1
Dian RahmalinaAfiliasi tidak diketahui1
Fitri Yuni LestariAfiliasi tidak diketahui1
Saidah RaufAfiliasi tidak diketahui1
Santi Aprilian LestaluhuAfiliasi tidak diketahui1
Sri Eny SetyowatiAfiliasi tidak diketahui1
Emil SalimUniversitas Halu Oleo1
Suryati SuryatiAfiliasi tidak diketahui1
Adlis SantoniAfiliasi tidak diketahui1
Norman FerdinalAfiliasi tidak diketahui1
Asri AmeliaAfiliasi tidak diketahui1
Leidina ZeinAfiliasi tidak diketahui1
Silfani MairantiAfiliasi tidak diketahui1
Indah Putri LestariAfiliasi tidak diketahui1

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Sumber metadata: OAI-PMH (metadata jurnal) https://journal.umy.ac.id/index.php/jrc/oai, pertama di-harvest 9 Nov 2026, terakhir terlihat 9 Nov 2026.
Metadata asli (oai_dc) 
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	<dc:title xml:lang="en-US">System Identification and Control Strategy on Electric Power Steering DC Motor</dc:title>
	<dc:creator>Arifin, Bustanul</dc:creator>
	<dc:creator>Nugroho, Agus Adhi</dc:creator>
	<dc:creator>Budisusila, Eka Nuryanto</dc:creator>
	<dc:creator>Khosyi'in, Muhammad</dc:creator>
	<dc:subject xml:lang="en-US">System Identification</dc:subject>
	<dc:subject xml:lang="en-US">EPS DC Motor</dc:subject>
	<dc:subject xml:lang="en-US">Myrio1900</dc:subject>
	<dc:subject xml:lang="en-US">Tuning Method</dc:subject>
	<dc:subject xml:lang="en-US">Performance</dc:subject>
	<dc:subject xml:lang="en-US">Stability.</dc:subject>
	<dc:description xml:lang="en-US">Power steering technology help human to control the car. The hydraulic power steering system now tends to be replaced by the electric power steering system (EPS). As the main driver that require precise control. The contribution of this research is to obtain system identification of EPS motor and novelty control strategy to achieve stable control better. Motor control require an appropriate mathematical model and up-down-up down signals of Pseudo Random Binary Signal Sequence (PRBS) were used. The modelling method used was the Numerical Algorithm for Subspace State Space System Identification (N4SID). The quality of the modeling needs to be measured to see whether it was close to the original signal. The validation of the model obtained tested using Variance Accounted For (VAC), Akaike Information Criterion (AIC), and Final Prediction Error (FPE). The best mathematical model was developed on the basis of these three criteria, which is 3rd order model. The control strategy carried out by means of the Ziegler Nichols, Tyreus Luyben and Haugen tuning technique. With these three tuning methods, the control parameters obtained were used for Proprotional-Integral (PI) and Proportional-Integral-Derivative (PID) control. Based on the study, the Haugen control shows the best results of the two other controls, namely with a rise time value of 11,361 ms, overshoot of 6,898%, and steady state at 1.3 s. This show that PI control using the Haugen tuning method able to control the motor well. Robustness tests have also been carried out because the steering system is operated in unpredictable environmental conditions. The control greatly influenced the performance and stability of EPS control in the car's steering system.</dc:description>
	<dc:publisher xml:lang="en-US">Universitas Muhammadiyah Yogyakarta</dc:publisher>
	<dc:date>2024-03-25</dc:date>
	<dc:type>info:eu-repo/semantics/article</dc:type>
	<dc:type>info:eu-repo/semantics/publishedVersion</dc:type>
	<dc:format>application/pdf</dc:format>
	<dc:identifier>https://journal.umy.ac.id/index.php/jrc/article/view/21614</dc:identifier>
	<dc:identifier>10.18196/jrc.v5i3.21614</dc:identifier>
	<dc:source xml:lang="en-US">Journal of Robotics and Control (JRC); Vol. 5 No. 3 (2024); 655-666</dc:source>
	<dc:source>2715-5072</dc:source>
	<dc:source>2715-5056</dc:source>
	<dc:source>10.18196/jrc.v5i3</dc:source>
	<dc:language>eng</dc:language>
	<dc:relation>https://journal.umy.ac.id/index.php/jrc/article/view/21614/9080</dc:relation>
	<dc:rights xml:lang="en-US">Copyright (c) 2024 Bustanul Arifin, Agus Adhi Nugroho, Eka Nuryanto Budisusila, Muhammad Khosyi'in</dc:rights>
</oai_dc:dc>