电动助力转向中间位置转向感觉分析

针对电动助力转向系统(EPS)的转向感觉进行了系统分析,其中转向盘中间位置的转向主观感受是汽车转向感觉研究的主要内容,直接影响驾驶员对稳定性、安全性和行驶的判断,研究通过整车中间位置转向感觉主观评价试验,介绍了试验及数据处理方法,并对客观评价指标进行了分析.分别研究了中间位置转向灵敏程度,转向手力特性,以及中间位置行驶时的汽车响应特性等三方面的客观评价指标.应用这些指标参数,可以系统全面的评定EPS中间位置转向感觉,指导EPS与整车的匹配开发,以获得更适宜的中间位置转向感觉.     

电动助力转向系统建模与控制策略研究

概述了电动助力转向系统的优点，建立了电动助力转向的数学模型。在此基础上对比分析了比例控制策略和比例微分控制策略的不同控制效果。仿真结果表明，在助力增益较大时，比例控制会引起转向盘振动，同时来自路面的高频干扰也容易传递到转向盘，使手感变差。比例微分控制引入微分环节，增加了系统的阻尼，通过调节微分系数，可以调节系统带宽，因而较好解决了转向轻便性、转向盘振动和抑制路面高频干扰之间的矛盾。     

基于整车多体模型的电动助力转向虚拟试验

首先利用机械动力学仿真分析软件ADAMS建立某多功能商务车整车多体动力学模型;其次在Matlab/Simulink中设计了PID控制的电动助力转向控制器,并定义了与ADAMS/Car环境下车辆模型的数据交换接口;最后将设计的控制器在ADAMS/Car和Matlab/Simulink环境下通过输入输出接口实现联合迭代仿真,不断修正控制参数直到得到满意的控制效果。仿真结果表明,所建立的模型和联合仿真的分析方法是正确的、有效的,为加快开发汽车EPS系统的控制逻辑提供了理论参考。     

电动助力转向系统阻力模拟器研究及实现

研究电动助力转向系统阻力模拟器的控制方法，探索一种利用单片机控制电动机转矩为试验台提供转向阻力的方法。介绍了阻力模拟器的结构、控制方法、工作原理，研究了电动助力转向系统阻力模拟器的功能及实现方法。     

汽车转向系统的直线步进电机控制

采用直线步进电机（LSM）控制的汽车电动转向系统（EPS）是当前国际上的新技术之一。本文通过直线步进电机的原理、核心芯片的选用、控制系统的构建,概要研讨新型转向系统的设计要点,重点阐述直线步进电机的EPS系统架构、技术方案的确定,控制系统结构图及程序流程图,对应软硬件等对实施系统控制的影响。     

车辆半主动悬架与助力转向集成控制的仿真研究

为协调车辆操纵稳定性和行驶平顺性,基于底盘系统动力学原理,建立了半主动悬架和电动助力转向的综合模型,对半主动悬架和电动助力转向系统进行集成控制.运用二次反馈法和PID策略分别对悬架的可调阻尼和转向系统的助力进行控制.仿真结果表明,在集成控制情况下,车辆的操纵稳定性和平顺性均优于悬架或转向单独控制的效果.     

Development of a hardware in the loop simulation system for electric power steering in vehicles

In this paper, a hardware-in-the-loop simulation (HILS) system was developed before the development of an electric power steering (EPS) system in a vehicle. This study was focused on the establishment of the HILS system. Driving conditions are simulated with the HILS system. The actual steering input parameters are confirmed on the monitor while driving the HILS system. The steering forces observed in the simulation with the developed HILS system are similar to those in real vehicle tests. The developed HILS system can be applied in the development of various types of EPS systems.     

电动助力转向系统在大中型客车上的应用

针对大中型客车液压助力转向系统存在的问题,介绍电动助力转向(EPS)系统的工作原理及优点,提出一种适用于大中型客车的EPS方案。     

电动助力转向系统开发平台的仿真分析

本文提出了一种基于电动伺服缸加载的电动助力转向系统实验平台,并对该实验台进行数学建模,建立了其整体仿真模型,模拟分析了车辆在实际运行中轮胎力的变化以及EPS的动态特性响应。     

Modelling and control of a new differential steering concept

This paper presents a new steer-by-wire concept using an all-wheel drive vehicle layout with in-wheel motors while completely omitting the application of any dedicated steering device. Steering is based on the so-called differential steering principle which generates the necessary steering moment about the kingpins by a traction force difference between left and right sides of the vehicle. In order to investigate the behaviour of the vehicle and to design the underlying control algorithms, a planar vehicle model is presented, where the vehicle is described as constrained non-holonomic system requiring a special treatment. A state feedback linear controller for controlling of the lateral dynamics of the vehicle at higher speeds and a simple PI angle controller for low-speed manoeuvring are developed. The resulting behaviour of the system is investigated by various simulation experiments demonstrating a comparable steering performance of the new steering concept as that of conventional passenger cars.     

Disturbance compensation with a torque controllable steering system

Via a conventional steering system the driver perceives desired and disturbing effects such as road feedback and resonance effects, respectively. They appear with overlapping frequency spectra within the driver's steering torque. This paper introduces a control algorithm that is suppressing periodic disturbances without affecting useful steering road feedback attributes as well as regular power assistance characteristic. This is realised by an integrated torque actuator within the steering column in conjunction with a conventional Hydraulic-assisted Power Steering (HPS) system.     

基于快速控制原型的电动助力转向系统控制研究

阐述了车辆电动助力转向系统(EPS)的结构与工作原理.研究了EPS系统在路面冲击下的稳定性能及控制方法,对助力电机输出电流施行模糊PID闭环反馈控制,并采用幅频复合滤波对控制信号进行滤波处理,从而进一步提高了控制效果.通过在快速控制原型平台上进行的硬件在环实时仿真表明,该方法明显改善了EPS系统的控制性能.     

Disturbance compensation with a torque controllable steering system

Via a conventional steering system the driver perceives desired and disturbing effects such as road feedback and resonance effects, respectively. They appear with overlapping frequency spectra within the driver's steering torque. This paper introduces a control algorithm that is suppressing periodic disturbances without affecting useful steering road feedback attributes as well as regular power assistance characteristic. This is realised by an integrated torque actuator within the steering column in conjunction with a conventional Hydraulic-assisted Power Steering (HPS) system.     

电动助力转向系对汽车角输入响应影响的仿真

详细地分析和推导出了具有不同控制方式的EPS系统的传递函数，在Matlab环境中进行了仿真计算并对结果进行了分析，定性地说明了EPS系统的控制方式和结构参数对汽车转向盘角阶跃输入下的稳态、瞬态和频率响应特性的影响。     

电动助力转向系统H∞鲁棒控制研究

建立了3自由度EPS系统动力学模型,提出了EPS控制系统结构,基于转矩传感器输出及其它可测信号,设计了转矩估计器来估算驾驶员操纵转矩。仿真结果表明：所设计EPS控制系统有良好助力跟随和鲁棒稳定性能。     

EPS与主动悬架系统自适应模糊集成控制的仿真与试验研究

在建立的汽车整车主动悬架和EPS动力学模型(包含转向运动、俯仰运动和侧倾运动等模型)的基础上,运用自适应模糊控制方法,利用车身姿态的变化动态地调节主动悬架控制器和EPS控制器的输出,实现了对EPS和主动悬架系统的集成控制。为了验证控制系统的可行性和有效性,分别进行了仿真和实车道路试验。结果表明,集成控制显著提高了汽车的行驶平顺性和操纵稳定性,整车综合性能明显优于传统的悬架和转向系统。     

基于MATLAB/SIMULINK的汽车电动助力转向系统特性仿真

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。     

基于方向盘角度的电动助力转向系统主动回正控制设计

电动助力转向（EPS）系统是在机械转向系统的基础上,加入电动机作为执行机构,使得转向轻便。由于电机转子、减速机构的摩擦阻尼,致使转向系统的回正性能变差。针对系统回正不足,设计了基于方向盘角度信息查表的主动回正控制算法,进行了电控单元（ECU）软、硬件设计。结果表明,该控制策略可使方向盘顺利回到接近中点位置,不过度。     

基于CMAC神经网络与PID并行控制的汽车电动助力转向系统

电动助力转向系统(EPS)已经成为世界汽车技术发展的研究热点,然而对EPS控制策略的研究大多仅限于传统的控制方式。比较了单纯PID控制和CMAC与PID复合控制下电动助力转向系统对各种输入信号的响应,证明复合控制对非线性信号有很强的跟踪能力,并且具有很好的抗干扰性。     

Effects of FTP-75 mode vehicle fuel economy improvement due to types of power steering system

This paper focuses on fuel economy improvement according to the type of power steering system. Usually, a conventional power steering system is directly driven by the crankshaft of the engine with a belt, known as HPS (hydraulic power steering). However, there is some inefficiency with this system at high engine speeds. To improve this inefficiency, automobile makers have developed two power steering systems: EHPS (electro-hydraulic power steering) and MDPS (motor-driven power steering) or EPS (electric powered steering). However, there has been insufficient study of effects of the type of power steering system on fuel economy. In this paper, the effect of the type of power steering system on fuel economy is studied experimentally, and calculations of the effect on vehicle fuel economy are presenting using computer simulation with AVL cruise software. The results demonstrate that a 1% vehicle fuel economy improvement can be achieved in a vehicle with an electro-hydraulic power steering system compared to a vehicle with a hydraulic power steering system. In addition, a 1.7% vehicle fuel economy improvement can be achieved using a full electric power steering system in a FTP-75 driving cycle. These results could be used to choose a power steering system.