电动化底盘动力转向系统多工况切换控制策略及性能试验  

Switched control strategy and performance test of electric vehicle electric power steering system under different conditions

作　　者：赵景波[1] 周冰[2] 李秀莲[1] 贝绍轶[1] 

机构地区：[1]江苏理工学院汽车与交通工程学院,江苏常州213001 [2]江苏理工学院计算机工程学院,江苏常州213001

出　　处：《电机与控制学报》2013年第11期105-109,共5页Electric Machines and Control

基　　金：江苏省自然科学基金(BK2012586);江苏省高校自然科学基金(12KJB580002);江苏省"六大人才"高峰项目(ZBZZ-024);常州市应用基础研究计划(前沿技术)(CJ20130015)

摘　　要：针对电动化底盘动力转向系统(electric power steering,EPS)的多工况特征和协调不同工况下转向性能的要求,建立了EPS系统动力学模型和汽车三自由度转向模型,建立了EPS系统动态行为描述。设计了EPS系统的切换控制结构,针对助力工况、回正工况和阻尼工况分别设计了柔性PID控制算法、模糊PID控制算法和Bang-Bang-PID控制算法,在不同的工况下采用相应的控制算法实时切换和协调控制。设计了1/4试验台架,进行了输入/输出特性试验、输入转矩/电动机电流特性试验和助力特性试验。结果表明:输入/输出特性的左右对称度>90%;输入转矩/电动机电流特性的左右对称度>90%,回程迟滞∈[0.2,0.8],非灵敏区∈[0,2],最大电流∈[30,35];原地转向时的转向轻便性提高了69.6%,5km/h时的转向轻便性提高了56.2%,随着车速的增加,汽车EPS系统的助力效能降低。According to the multi-state characteristics of electric power steering （EPS） system and to co- ordinate the steering requirements under different conditions, the EPS system dynamics and 3-degrees of freedom （DOF） automotive steering model were established. Also, the dynamic behavior of EPS system was described. The switched control structure of EPS system was designed and the Flexible PID control algorithm, Fuzzy-PID control algorithm and Bang-Bang-PID control algorithm were designed respectively under assistance condition, returu-to-center condition and damping condition. In different conditions the corresponding control algorithm was real-time switched and coordinated. The 1/4 test bench was designed and the input/output characteristics test, the input torque/motor current characteristic test and the assis- tance characteristic test were carried on. The results show that the symmetry under the input/output char- acteristics test is greater than 90%, and the symmetry under the input torque/motor current characteristic test is greater than 90% ; the return delay belongs to the range of [0. 2,0.8 ] , and the non-sensitive area belongs to the range of [0,2 ] as well as the maximum current belongs to the range of [ 30,35 1. The steering portability under the situ condition and 5 km/h condition is improved respectively by 69.6% and 56.2% , and the of EPS＇ s assistance performance is degraded with speed increase.

关 键 词：电动汽车 电动助力转向 切换控制 柔性PID控制 模糊PID控制 Bang—Bang—PID 控制 性能试验 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置] U463.4[自动化与计算机技术—控制科学与工程]