基于模糊免疫PID的EPS路感研究*

针对电动助力转向系统存在系统模型不确定性和各种干扰。以驾驶员获得良好的路感和系统具有较小的力矩波动为控制目标。根据生物免疫系统在干扰和不确定性环境中具有较强鲁棒性和自适应性，借鉴其反馈响应过程的调节规律，提出了一种模糊免疫PID控制策略。仿真结果表明，这种控制器抗干扰能力强，具有较快的响应速度，可有效抑制模型参数不确定、路面冲击等所引起的各种干扰和噪声。

Road feel research of EPS based on fuzzy immune PID

In view of the existence of uncertainties such as model and disturbance signal in the EPS system. The goal was to obtain a good steering feeling and a small torque fluctuation for the driver. Biology immune system were characterized by their strong robustness and self-adaptability even when encountering strong disturbances and uncertain conditions, presented fuzzy immune adaptive PID control based on the immune feedback regulating of the process. Simulation results show that the controller has a strong anti-interference ability, fast response speed, meanwhile attenuate the noises and disturbance caused by model parameter uncertainty and the road impact.