智能电动车EPS鲁棒性控制律的建模与仿真  

Modeling and Simulation of Robust Control Low of Electric Power Steering System in Intelligent Electric Vehicle

作　　者：黄锡昌[1] 

机构地区：[1]南华工商学院,广东广州510720

出　　处：《计算机仿真》2013年第5期176-180,共5页Computer Simulation

摘　　要：智能电动汽车配备电动助力转向系统(EPS)以提高转向系统的稳定。EPS是非线性系统,为了改进其鲁棒性能,结合EPS的结构和动力学特性,建立了EPS的动力学方程。构建结合整车、轮胎、EPS系统的整体仿真模型,利用李雅普诺夫方法的克拉索夫斯基定理设计EPS控制律,并用李雅普诺夫再设计方法设计具有鲁棒性的EPS控制律。在多领域建模软件Dymola中对智能电动汽车转向系统建模,并进行阶跃仿真,结果表明,李雅普诺夫再设计方法得到的EPS控制律具有较强鲁棒性。The intelligent electric vehicle equips the electric power steering system （EPS） to enhance the stability of steering system. In order to advance the EPS which is a nonlinear system, the dynamic equation of the EPS was es- tablished based on the structure and the dynamic characteristics. Combined with EPS model, whole vehicle model and Fiala tire model, the Krasovk＇ s method was used to obtain the candidate Lyapunov function for the EPS system. And nonlinear control for EPS system considering parameter uncertainty was presented by Lyapunov redesign approach. The results were obtained from simulation based on Dymola, which show that the control law of EPS has robust performance. KEYWOROS：Intelligent electric vehicle; Electric power steering system; Lyapunov approach; Computer modeling and simulation

关 键 词：智能电动汽车 电动助力转向系统 李雅普诺夫方法 计算机建模与仿真 

分 类 号：TB24[一般工业技术—工程设计测绘]