电动助力转向系统H_∞鲁棒控制研究  

A Research on H_∞ Robust Control Strategy for Electric Power Steering System

作　　者：赵治国[1] 余卓平[1] 孙泽昌[1] 陈慧[1] 

机构地区：[1]同济大学汽车学院,上海201804

出　　处：《汽车工程》2005年第6期730-735,共6页Automotive Engineering

基　　金：中国博士后科学基金二等(2003034040);上海市科委基金(03dz11011)资助。

摘　　要：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。In this paper, a 3 DOFs nonlinear dynamic model for electric power steering （EPS） system is established and the structure of EPS control system is proposed. For estimating driver input torque, a torque estimator is designed based on torque sensor signal and other measured signals. The simulation results indicate that the designed control system for EPS exhibits good performances in assist tracking and robustness.

关 键 词：电动助力转向系统 前馈控制 H∞反馈控制 鲁棒稳定性 

分 类 号：U463.4[机械工程—车辆工程]