汽车电动助力转向模糊控制器研究
发布时间：2018-10-18 14:58
【摘要】：在现代汽车工业中,衡量汽车工业水平的标志,除了机械结构的改进,汽车电子化的程度被看作是另一个重要标志,其中取代传统液压助力转向系统的电动助力转向(EPS,Electric Power Steering)系统,是汽车电子化在助力转向领域的重要应用,市场前景广阔。根据中国汽车工业协会的报告,2007年到2012年,我国电动助力转向器的销售额从62万套增加到600万套,市场占有率不断扩大,但本土生产市场仅占9%,其余均被外资或合资企业占领,因此开发出具有自主知识产权的EPS系统,对我国EPS行业的发展意义非凡。本项目是四川省科技厅基础研究项目,以转向轴式EPS为研究对象,以LPC922FN单片机为控制核心,以永磁式直流电动机为助力装置,设计了EPS控制器,可靠性高、成本低廉。首先分析了EPS系统的工作原理及助力函数曲线特点,针对传统PID控制的局限,将模糊控制算法应用到EPS中,并建立了输入输出参数的隶属度函数和相应的控制规则;然后结合转向轴式EPS系统的动力学方程,在MATLAB/SIMULINK环境下建立了系统模型,仿真验证算法的性能;硬件部分,设计确定了各主要电路的实现方案并完成了各功能模块的设计,软件部分,编写实现了系统程序总体流程及各个软件模块;最后完成了系统软硬件联合调试,进行了大量测试实验,包括功能性实验和性能实验,基本完成了设计指标,实现了以方向盘输入力矩、转向轴旋转角度和车速为输入信号,以电机助力电流为输出信号的助力转向控制器的设计。本文重点在于将模糊控制应用到汽车助力转向器的开发,在安全性前提下,能够有效的完成汽车转向助力、阻力或回正功能,有效改善了驾驶员在低速行驶时转向轻便与高速行驶时转向稳重的驾驶体验,基本能够达到预期的设计目标,对于实际工程有较大指导意义。
[Abstract]:In modern automobile industry, besides the improvement of mechanical structure, the degree of electronization of automobile is regarded as another important sign to measure the level of automobile industry. The electric power steering (EPS,Electric Power Steering) system, which replaces the traditional hydraulic power steering system, is an important application of electronic automobile in the field of power steering, and has a broad market prospect. According to the report of the China Association of Automobile Industry, from 2007 to 2012, the sales volume of electric power steering gear increased from 620000 to 6 million, and its market share continued to expand, but the local production market accounted for only 9 percent, and the rest was occupied by foreign capital or joint ventures. Therefore, the development of EPS system with independent intellectual property rights is of great significance to the development of China's EPS industry. This project is a basic research project of Sichuan Science and Technology Department. It takes steering shaft EPS as research object, LPC922FN single chip microcomputer as control core and permanent magnet DC motor as booster device. The EPS controller is designed with high reliability and low cost. Firstly, the working principle of EPS system and the characteristics of the help function curve are analyzed. Aiming at the limitation of the traditional PID control, the fuzzy control algorithm is applied to the EPS, and the membership function of the input and output parameters and the corresponding control rules are established. Then combined with the dynamic equation of the steering shaft EPS system, the system model is established under the MATLAB/SIMULINK environment, and the performance of the algorithm is verified by simulation. In the hardware part, the realization scheme of the main circuits is designed and the design of each functional module is completed. In the software part, the overall flow of the system program and each software module are realized. Finally, the joint debugging of the system software and hardware is completed, and a large number of test experiments, including functional experiment and performance experiment, are carried out, and the design index is basically completed. The design of steering controller with input torque of steering wheel, rotation angle and speed of steering shaft as input signal and motor power current as output signal is realized. The key point of this paper is to apply fuzzy control to the development of automobile power steering gear. Under the premise of safety, it can effectively accomplish the function of steering aid, resistance or realignment. It can effectively improve the driver's driving experience of light steering at low speed and steady steering at high speed, and can basically achieve the expected design goal, which is of great significance for practical engineering.
【学位授予单位】：电子科技大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U463.4;TP273.4
本文编号：2279482
[Abstract]:In modern automobile industry, besides the improvement of mechanical structure, the degree of electronization of automobile is regarded as another important sign to measure the level of automobile industry. The electric power steering (EPS,Electric Power Steering) system, which replaces the traditional hydraulic power steering system, is an important application of electronic automobile in the field of power steering, and has a broad market prospect. According to the report of the China Association of Automobile Industry, from 2007 to 2012, the sales volume of electric power steering gear increased from 620000 to 6 million, and its market share continued to expand, but the local production market accounted for only 9 percent, and the rest was occupied by foreign capital or joint ventures. Therefore, the development of EPS system with independent intellectual property rights is of great significance to the development of China's EPS industry. This project is a basic research project of Sichuan Science and Technology Department. It takes steering shaft EPS as research object, LPC922FN single chip microcomputer as control core and permanent magnet DC motor as booster device. The EPS controller is designed with high reliability and low cost. Firstly, the working principle of EPS system and the characteristics of the help function curve are analyzed. Aiming at the limitation of the traditional PID control, the fuzzy control algorithm is applied to the EPS, and the membership function of the input and output parameters and the corresponding control rules are established. Then combined with the dynamic equation of the steering shaft EPS system, the system model is established under the MATLAB/SIMULINK environment, and the performance of the algorithm is verified by simulation. In the hardware part, the realization scheme of the main circuits is designed and the design of each functional module is completed. In the software part, the overall flow of the system program and each software module are realized. Finally, the joint debugging of the system software and hardware is completed, and a large number of test experiments, including functional experiment and performance experiment, are carried out, and the design index is basically completed. The design of steering controller with input torque of steering wheel, rotation angle and speed of steering shaft as input signal and motor power current as output signal is realized. The key point of this paper is to apply fuzzy control to the development of automobile power steering gear. Under the premise of safety, it can effectively accomplish the function of steering aid, resistance or realignment. It can effectively improve the driver's driving experience of light steering at low speed and steady steering at high speed, and can basically achieve the expected design goal, which is of great significance for practical engineering.
【学位授予单位】：电子科技大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U463.4;TP273.4
【参考文献】
相关期刊论文 前1条
1 叶耿,杨家军,刘照,肖大友;汽车电动式动力转向系统转向路感研究[J];华中科技大学学报(自然科学版);2002年02期
，本文编号：2279482
本文链接：https://www.wllwen.com/falvlunwen/zhishichanquanfa/2279482.html
