| 人-车闭环中电动助力转向系统的基本特性分析 |
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| 引用本文： | 张军辉,邓兆祥,任夏楠,左虎彪,鹿鹏程. 人-车闭环中电动助力转向系统的基本特性分析[J]. 现代制造工程, 2012, 0(4): 26-30,129 |
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| 作者姓名： | 张军辉 邓兆祥 任夏楠 左虎彪 鹿鹏程 |
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| 作者单位： | 1. 重庆大学机械学院机械传动国家重点实验室,重庆,400030
2. 重庆大学机械学院机械传动国家重点实验室,重庆400030;中国汽车工程研究院汽车NVH及安全控制国家重点实验室,重庆400039 |
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| 基金项目： | 重庆市科技攻关计划项目 |
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| 摘 要： | 建立详细的四自由度电动助力转向(EPS)系统机械电气模型,考虑Fiala轮胎模型和二自由度整车模型,引入以转向盘输入角为反馈信号的驾驶员模型,构建装备EPS系统的人-车非线性闭环系统模型。采用模糊控制器确定目标电流并通过PID控制和脉冲宽度调制(PWM)实现其跟踪控制,构建电流闭环控制,并采用基于非线性控制设计(NCD)的单纯形自寻优法对参数进行优化。通过仿真计算,以转向盘输入转矩以及整车的横摆角速度、侧向加速度为指标,研究分析了EPS系统在人-车非线性闭环系统中的基本特性。
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| 关 键 词： | 非线性闭环系统 电动助力转向 驾驶员 特性分析 |
Basic characteristic analysis electric power steering system in the driver-vehicle closed-loop system |
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| Zhang Junhui , Deng Zhaoxiang , Ren Xianan , Zuo Hubiao , Lu Pengcheng. Basic characteristic analysis electric power steering system in the driver-vehicle closed-loop system[J]. Modern Manufacturing Engineering, 2012, 0(4): 26-30,129 |
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| Authors: | Zhang Junhui Deng Zhaoxiang Ren Xianan Zuo Hubiao Lu Pengcheng |
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| Affiliation: | 1(1 The State key Laboratory of Mechanical Transmission,Chongqing University,Chongqing 400030,China; 2 China Automotive Engineering Research Institute Co.Ltd.,State key Laboratory of Automotive NVH and Safety Control,Chongqing 400039,China) |
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| Abstract: | A detailed 4 DOFs dynamic-electric model of Electric Power Steering(EPS) system is built,and the driver model based on the steering angle feedback is inducted.Combined with the vehicle model contained the tire model,the driver-vehicle closed-loop system with EPS is built.The objective current is determined by the fuzzy controller and realized by PID controller and PWM technology and so the current closed-circuit controller is built.The simplex search for the object function based on the Matlab’s nonlinear optimization control toolbox is adopted to optimize the parameters controller.In the simulation,driver’s input torque,the lateral acceleration and the yaw velocity of the vehicle are adopted to analyse the basic characteristic of EPS in the closed-circuit. |
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| Keywords: | nonlinear closed-loop system Electric Power Steering(EPS) driver characteristic analysis |
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