电控转向试验台电动阻力模拟系统加载控制策略研究

发布时间：2017-12-26 18:24

本文关键词：电控转向试验台电动阻力模拟系统加载控制策略研究　出处：《吉林大学》2016年硕士论文　论文类型：学位论文

【摘要】：电动助力转向系统市场前景广阔,如何对其快速开发以适应市场变化是各汽车厂商研究的热点与重点,电控转向试验台是转向系统开发的有效工具,能极大地缩短转向系统的开发周期、降低开发成本。但阻力模拟系统的精度严重限制了电控转向试验台的性能,针对这一问题,本文深入研究阻力模拟系统加载控制策略,采用力闭环控制与前馈补偿控制相结合的控制策略,提高加载系统精度。本文结合国家自然科学基金项目“基于驾驶员特性的新型线控转向系统控制机理和评价方法研究”(编号:51575223)和“分布式全线控电动汽车可重构集成控制策略研究”(编号:51505178)。基于d SPACE实时仿真平台搭建电控转向试验台,建立对应模型,分析加载系统稳定性。采用力矩与电流双闭环策略增加系统动态响应品质,利用前馈补偿控制策略抑制系统多余力,通过仿真与试验验证控制策略的有效性。本文主要进行了以下几方面的研究:(1)对电控转向试验台及其阻力模拟系统控制策略研究现状进行调研,对比国内外转向试验台研究现状,分析各种加载控制策略的优缺点,提出课题研究意义,需对电控转向试验台加载控制策略进行研究,以提高加载试验台加载精度。(2)基于d SPACE实时仿真系统搭建电控转向、试验台,介绍电控转向试验台的架构、组成部分及工作原理,主要包括转向加载试验台硬件及控制系统、d SPACE实时仿真平台的软硬件系统、传感器信号和传感器标定实验。建立了电控转向试验台的加载系统、拉压力传感器和转向系统的模型。利用最小二乘法对加载系统永磁同步电机电参数进行辨识,采用加减速法对机械系统参数进行辨识,最后推导模型传递函数,作为理论分析的基础。(3)加载系统稳定性分析。借助根轨迹法分析加载系统极点位置,采用伯德图分析系统的稳定裕度,然后分析转动惯量、阻尼系数、传感器刚度对系统稳定性的影响。通过零极点配置的方式校正系统,增加系统稳定性,仿真分析力矩控制器各参数对系统动态响应的影响。最后对系统进行仿真与试验验证,仿真与试验结果说明校正后的系统具有很好的动态响应能力和稳定裕度。(4)加载系统多余力抑制。阐述多余力的产生机理,利用频域分析法分析多余力通道特性及转动惯量、阻尼系数和传感器刚度对多余力通道的影响。利用结构不变性原理和速度前馈补偿相结合的方式设计前馈控制器。最后进行仿真与试验验证,仿真与试验结果说明前馈控制策略对多余力的抑制效果很明显,能显著提高加载系统精度。
[Abstract]:The electric power steering system market prospects, how to quickly develop to adapt to changes in the market is hot and focus on various car manufacturers, electronic steering test platform is an effective tool of steering system, steering system can greatly shorten the development cycle and reduce development costs. However, the accuracy of the resistance simulation system seriously limits the performance of the electrically controlled steering test rig. In view of this problem, this paper studies the loading control strategy of the resistance simulation system, and adopts the control strategy combined with the force closed-loop control and the feedforward compensation control to improve the accuracy of the loading system. This paper is based on the National Natural Science Foundation of China "Research on control mechanism and evaluation method of new steering by wire system based on driver characteristics" (serial number: 51575223) and "reconfigurable integrated control strategy of distributed all electric vehicle" (serial number: 51505178). Based on the D SPACE real-time simulation platform, the electronic control steering test bed was built, and the corresponding model was established, and the stability of the loading system was analyzed. The torque and current double closed loop strategy is adopted to increase the dynamic response quality of the system, and the feedforward compensation control strategy is used to suppress the redundant force of the system. The effectiveness of the control strategy is verified by simulation and experiment. This paper mainly research on the following aspects: (1) the steering resistance simulation test platform and system control strategy research present situation investigation of electronic control, status of research on test rig to contrast at home and abroad, analysis the advantages and disadvantages of various loading control, put forward the research significance, steering load test control strategy of electronic control in order to improve the loading and loading test precision. (2) d SPACE real-time simulation system, build electronic steering test bed based on the electronic steering test bench, structure, components and working principle, including steering loading test system, hardware and control d SPACE real-time simulation platform of software and hardware system, sensor signal and sensor calibration experiment. The model of the loading system, the tension sensor and the steering system of the electronic control steering test rig are set up. The least squares method is used to identify the electrical parameters of the load system permanent magnet synchronous motor, and the acceleration and deceleration method is used to identify the parameters of the mechanical system. Finally, the transfer function of the model is derived as the basis for theoretical analysis. (3) the stability analysis of the loading system. With the help of root locus method, the pole position of the loading system is analyzed. The stability margin of the Berdtu analysis system is adopted. Then the influence of moment of inertia, damping coefficient and sensor stiffness on the stability of the system is analyzed. The system is corrected by the zero pole assignment, and the stability of the system is increased, and the influence of the parameters of the torque controller on the dynamic response of the system is simulated and analyzed. Finally, the system is simulated and tested. The simulation and test results show that the corrected system has good dynamic response ability and stability margin. (4) the residual force of the loading system is suppressed. The generation mechanism of excess force is expounded. Frequency domain analysis method is used to analyze the influence of redundant force channel characteristics, rotational inertia, damping coefficient and sensor stiffness on the redundant force channel. The feedforward controller is designed by combining the structure invariance principle with the speed feedforward compensation. Finally, simulation and experimental verification are carried out. Simulation and experimental results show that the effect of feedforward control strategy on the residual force is very obvious, and the accuracy of loading system can be significantly improved.
【学位授予单位】：吉林大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U467.523

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