EPS系统控制策略建模与仿真研究

发布时间：2018-01-25 11:51

本文关键词： 电动助力转向系统控制策略仿真研究试验台　出处：《上海工程技术大学》2016年硕士论文　论文类型：学位论文

【摘要】：汽车转向系统是用于改变或保持汽车行驶方向的控制机构。其作用是使汽车在行驶过程中能够按照驾驶员的操纵意图适时改变行驶方向,并在收到路面传来的偶然冲击或汽车意外偏离行驶方向时,能与行驶系统配合共同保持汽车继续稳定行驶。电动助力转向技术(EPS)是一种较新的转向技术,它与传统技术所不同的是去除了传统的液压设备,由ECU控制电机来实现转向动作,极大地增加了燃油经济性。电动助力转向技术可以由操纵者的操纵意图,对转向助力大小实行控制,即操纵者在在驾驶汽车低速时不需要提供很大的操纵力;在驾驶汽车高速时,驾驶员有着比较良好的操纵稳定性。本文以控制策略为主要研究内容,首先介绍了电动助力转向系统的基本组成结构和原理,随后对电动助力转向系统的动力学模型和助力特性进行了分析,提出了电动助力转向系统模型等汽车动力学模型并确定电动助力转向系统助力特性曲线,为后续的控制策略研究打下牢固的基础。在电动助力转向系统的控制策略中,本文研究了控制模式及控制算法的上下两层控制策略。上层控制策略的作用是使电子控制单元明确当前使用的工作模式,并确定控制对象。下层控制策略是选取一些数学算法来进行对电动机的执行方式及目标跟踪,属于电机控制。本文最后对TAT-6/TL型“电动助力转向在环仿真实验台”的系统结构、搭建要求及基本功能进行了分析,并对实验台架进行仿真研究。在助力特性实验中,对于四种行车速度进行模拟,得出输出电流与行驶速度成反比的结论;在回正特性实验中,电动机输出电流随输入转向力矩的降低而减小,回正控制确保方向盘良好地回归初始位置;在电机跟随特性实验中,电动机的实际输出电流曲线随整个系统运行较平稳,体现出转向系统性能优越性。
[Abstract]:Automobile steering system is used to change or maintain the direction of the vehicle. Its role is to make the vehicle in the course of driving in accordance with the driver's control intention to change the direction of driving at the right time. And in the event of an accidental impact from the road or an accidental deviation from the direction of the vehicle. EPS (Electric Power steering Technology) is a new steering technology, which is different from the traditional technology is to remove the traditional hydraulic equipment. The electric power steering technology can control the steering power by the manipulators' intention and control the steering power by using the ECU control motor to realize the steering motion, which greatly increases the fuel economy. That is, the operator does not need to provide great maneuverability when driving a car at low speed; When driving a car at high speed, the driver has a good handling stability. In this paper, the control strategy as the main research content, first introduced the basic structure and principle of the electric power steering system. Then the dynamic model and the characteristics of the electric power steering system are analyzed. The vehicle dynamic model such as the electric power steering system model is put forward and the characteristic curve of the electric power steering system is determined. It lays a solid foundation for the following control strategy research. In the control strategy of the electric power steering system. In this paper, the control mode and the control algorithm are studied. The upper control strategy is to make the electronic control unit clear about the current working mode. The lower control strategy is to select some mathematical algorithms to carry out the motor execution mode and target tracking. It belongs to motor control. At the end of this paper, the system structure, building requirements and basic functions of TAT-6/TL "Electric Power steering in Loop Simulation Test bench" are analyzed. In the experiment, four kinds of driving speed are simulated and the output current is inversely proportional to the driving speed. In the experiment, the output current of the motor decreases with the decrease of the input steering torque, and the return control ensures that the steering wheel returns to the initial position well. In the experiment of the motor following characteristic, the actual output current curve of the motor runs smoothly with the whole system, which shows the performance superiority of the steering system.
【学位授予单位】：上海工程技术大学
【学位级别】：硕士
【学位授予年份】：2016
【分类号】：U463.4

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