基于LQG控制的EPS系统最优控制研究  

Optimal control Research for Electric Power Steering System Based on LQG Controller

作　　者：高士香[1] 石沛林[1] 邹广德[1] 苗立东[1] 

机构地区：[1]山东理工大学交通与车辆工程学院,山东淄博255091

出　　处：《微计算机信息》2010年第7期71-72,68,共3页Control & Automation

基　　金：山东省自然科学项目;基金申请人:石沛林;项目名称:轮式特种作业车辆无线遥控操纵关键技术研究(2003ZX15);山东省教育厅项目;项目名称:轮式车辆遥控转向系统研究(JB06B06)

摘　　要：电动助力转向系统存在着路面随机激励、转矩传感器测量噪声、模型参数不确定所引起的干扰等复杂因素,通过建立电动助力转向系统的数学模型以及加入随机干扰信号的系统状态空间表达式,设计了线性二次型高斯状态反馈控制器和Kalman滤波器。并以能耗及电机的实际助力电流与目标助力电流之间的误差最小为目标函数对EPS系统进行仿真分析,仿真结果表明:采用该最优控制方法能有效的抑制系统的外部干扰,提高系统的鲁棒性,使能耗及电机的实际助力电流与目标助力电流之间的误差达到最小。Because of the complex factors of the random road excitation,the measurement noises of the torque sensor and the disturbance of model errors in the electric power steering system,the mathematical models of electric power steering system were established and the state-space formula with random disturbance signal was performed.Then the LQG state feedback controller and the Kalman filter were designed.Finally,take minimum the energy consumption and the error between the actual current of assist motor and the target value as the target function and simulate.The simulation results showed that this optimal control method could attenuate the external disturbance effectively,improve the system robustness,and minimize the energy consumption and the error between the actual assist current of motor and the target current.

关 键 词：电动助力转向系统 LQG控制器 卡尔曼滤波 最优控制 

分 类 号：U463.4[机械工程—车辆工程]