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为了研究电动汽车EPS助力特性对汽车操纵稳定性的影响,在对EPS工作原理和助力特性进行分析的基础上,建立了EPS动力学方程,设计了一种能实现理想助力特性的PID控制器。基于MATLAB/SIMULINK对其进行了仿真分析,结果表明,系统加入PID控制后齿条位移、方向盘转角及检测转矩相比无控制时运行更平稳,调节时间分别缩短0.2,0.4,0.4 s;前助力转矩阶跃响应呈高频波动,电机内部的波动现象明显改善,PID控制器对于EPS的助力特性具有更好的控制效果和稳定性。 相似文献
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The steering torque of an electric-power steering (EPS) motor is interrelated with the performance of the EPS control system,
therefore calculating an exact steering torque is critical in this application. This study presents a dynamic correction method
that greatly decreases the calculated error in the steering torque; the PID controller demonstrated here is therefore suitable
for the demands of this system. Based on an analysis of the detection process of the steering torque sensor, we first deduced
that the variation of the system resistance torque equals the difference between the measured value of the steering torque
and the ideal one in the previous cycle. Based on this result, we then proposed a dynamic correction method. Finally, a comparison
of the simulated and experimental results for several vehicles evidenced the effectiveness of this dynamic correction method. 相似文献
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阐述了电动助力转向系统(EPs)的基本组成和工作原理,设计了基于MC9S12XS128单片机控制的电动助力转向系统。介绍了其主要硬件电路模块的组成和软件总体设计,并对所设计的EPS控制器进行了台架试验,试验表明所设计的电助力转向系统能够很好地跟踪月标电流,实现闭环助力功能。 相似文献
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The Electric Power Steering (EPS) or Motor Driven Power Steering (MDPS) mechanism proves to be a bright prospect among passenger vehicles ensuring better vehicle safety and fuel economy. The car manufacturers are focusing on the production of Rack type EPS system (REPS). This paper describes the development of concurrent simulation technique using TruckSim and control strategy for analysing RMDPS control system with a dynamic vehicle system. A full Truck vehicle model interacting with RMDPS control algorithm was concurrently simulated on a sinusoidal steering input. The dynamic responses of vehicle chassis and steering system resulting were evaluated and compared with proving ground experimental data. The comparisons show reasonable agreement on steering wheel torque, lateral acceleration and yaw rate. This concurrent simulation research leads the possibility of RMDPS performance evaluation of Truck and Semi-bonnet cars. 相似文献
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首先利用AMEsim软件建立电动助力转向系统的动力学模型,然后在Matlab/Simulink环境中设计电动助力转向系统的ECU模型。通过AMEsim与Simulink接口,将两个模块进行联合,实现两者的联合仿真。仿真结果表明,本文所提出的电动助力转向系统的动力学模型、控制策略、联合仿真算法是正确的、有效的。 相似文献
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Peng Hang Xinbo Chen Shude Fang Fengmei Luo 《International Journal of Automotive Technology》2017,18(5):785-797
A four-wheel-independent-steering (4WIS) electric vehicle (EV) with steer-by-wire (SBW) system is proposed in this paper. The fast terminal sliding mode controller (FTSMC) is designed for the SBW system to suppress external disturbances. Taking unstructured and structured uncertainties into consideration, a robust controller is designed for the 4WIS EV utilizing μ synthesis approach and the controller order reduction is implemented based on Hankel-Norm approximation. Since sideslip angle is the feedback signal of robust controller and it is hard to measure, the extended Kalman filter (EKF) is employed to estimate sideslip angle. To evaluate the vehicle performance with the designed control system, step and sinusoidal steering maneuvers are simulated and analyzed. Simulation results show that the designed control system have good tracking ability, strong robust stability and good robust performance to improve vehicle stability and handing performance. 相似文献
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Wei Liu Fengchun Sun Jiangyi Lv 《Vehicle System Dynamics: International Journal of Vehicle Mechanics and Mobility》2017,55(5):601-625
This paper describes an integrated chassis control framework for a novel three-axle electric bus with active rear steering (ARS) axle and four motors at the middle and rear wheels. The proposed integrated framework consists of four parts: (1) an active speed limiting controller is designed for anti-body slip control and rollover prevention; (2) an ARS controller is designed for coordinating the tyre wear between the driving wheels; (3) an inter-axle torque distribution controller is designed for optimal torque distribution between the axles, considering anti-wheel slip and battery power limitations and (4) a data acquisition and estimation module for collecting the measured and estimated vehicle states. To verify the performances, a simulation platform is established in Trucksim software combined with Simulink. Three test cases are particularly designed to show the performances. The proposed algorithm is compared with a simple even control algorithm. The test results show satisfactory lateral stability and rollover prevention performances under severe steering conditions. The desired tyre wear coordinating performance is also realised, and the wheel slip ratios are restricted within stable region during intensive driving and emergency braking with complicated road conditions. 相似文献
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G. H. Lee W. C. Choi S. I. Kim S. O. Kwon J. P. Hong 《International Journal of Automotive Technology》2011,12(2):291-297
This paper identifies a control method used to reduce torque ripple of a permanent magnet synchronous motor (PMSM) for an
electric power steering (EPS) system. NVH (Noise Vibration Harshness) is important for safe and convenient driving. Vibration
caused by motor torque is a problem in column type EPS systems. Maintaining a very low torque ripple is one solution that
allows for smoother steering. Theoretically, it is possible to design and drive the motor without torque ripple. However,
in reality, a PMSM system torque ripple is caused by the motor itself (saturation in the iron core and EMF distortion) and
the imperfect driver. This paper analyzes torque ripple of a PMSM system, and an advanced PMSM control method for the column
typed EPS system is presented. Results of the analysis indicate that the compensation current is needed in order to minimize
torque ripple when a PMSM is driven. 相似文献
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This paper proposes a nonlinear adaptive sliding mode control that aims to improve vehicle handling through a Steer-By-Wire
system. The designed sliding mode control, which is insensitive to system uncertainties, offers an adaptive sliding gain to
eliminate the precise determination of the bound of uncertainties. The sliding gain value is calculated using a simple adaptation
algorithm that does not require extensive computational load. Achieving the improved handling characteristics requires both
accurate state estimation and well-controlled steering inputs from the Steer-By-Wire system. A second order sliding mode observer
provides accurate estimation of lateral and longitudinal velocities while the driver steering angle and yaw rate are available
from the automotive sensors. A complete stability analysis based on Lyapunov theory has been presented to guarantee closed
loop stability. The simulation results confirmed that the proposed adaptive robust controller not only improves vehicle handling
performance but also reduces the chattering problem in the presence of uncertainties in tire cornering stiffness. 相似文献
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为了提高分布式无人车轨迹跟踪的精度,提出了基于自主与差动协调转向控制的轨迹跟踪方法。首先,在车辆三自由度模型基础上,基于模型预测控制(MPC)实时计算前轮转角以控制车辆进行自主转向轨迹跟踪。在此过程中,为了提高自主转向下车辆的轨迹跟踪精度与行驶的稳定性,考虑多种因素,利用经验公式及神经网络控制对MPC的预瞄步数和预瞄步长进行多参数调整,实现预瞄时间的自适应控制。其次,在恒转矩需求的情况下,以轨迹偏差为PID控制器的输入及左右轮毂电机转矩为输出进行差动转向控制,实现了差动转向下的轨迹跟踪控制。然后,通过设置权重系数的方法将自主与差动转向相结合。考虑到车辆横纵向动力学因素,采用模糊控制及经验公式对权重系数进行了调整,从而在提高车辆转向灵活性与轨迹跟踪效果的同时保证车辆行驶的稳定性。CarSim与Simulink联合仿真以及实车试验结果表明:与自主转向轨迹跟踪相比,采用变权重系数的协调控制可以在不同的工况下提高车辆的转向灵活性与轨迹跟踪的精度,轨迹跟踪偏差的均方根值改善率达到了11%。所提出的协调转向控制方法可为分布式驱动车辆转向灵活性的提高及轨迹跟踪精度的改善提供一种新的思路。 相似文献