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Table 4 Parameters of vehicle and EPS structure

From: Parallel Distributed Compensation /H Control of Lane-keeping System Based on the Takagi-Sugeno Fuzzy Model

Parameter

Value

Total mass (kg)

1296

Vehicle yaw moment of inertia Iz (kg·m2)

1750

Distance form CG to front axle Lf (m)

1.01

Distance from CG to rear axle Lr (m)

1.56

Front cornering stiffness Cf (N/rad)

35000

Rear cornering stiffness Cr (N/rad)

42000

Inertia moment of steering column Jc (kg·m2)

0.046

Damping of steering column Bc (N·m·s/rad)

0.361

Stiffness of steering column Kc (N·m/rad)

115

Equivalent mass of gear rack mr (kg)

32

Equivalent damping of gear rack Br (N·s/m)

3620

Equivalent stiffness of gear rack Kr (N/m)

46000

Inertia moment of motor Jm (kg·m2)

0.00045

Damping of motor Bm (N·m·s/rad)

0.0033

Transmission ratio of motor reducer n

22

Gear ratio isw

16.5