电动助力转向系统回正补偿控制研究  

A Study on Return-to-center Compensation Control for Electric Power Steering System

作　　者：刘俊[1] 黄智[1] 

机构地区：[1]湖南大学汽车车身先进设计制造国家重点实验室,长沙410082

出　　处：《机械科学与技术》2017年第5期761-766,共6页Mechanical Science and Technology for Aerospace Engineering

基　　金：湖南自然科学基金项目(13JJ4033)资助

摘　　要：车辆在不同附着系数路面上行驶时,转向回正力变化显著导致车辆回正时回正不足或回正超调。为克服路面附着系数变化对车辆回正性能的影响,研究了基于实际回正力估计的回正控制。建立了电动助力转向系统(Electric power steering system,EPS)模型,由车速和方向盘转角确定期望回正力矩。采用变内阻、变反电动势系数的电机模型估计电机转速,由估计的电机转速、电机电流,方向盘扭矩,估计车辆的回正力矩。根据期望回正力矩和估计的实际回正力矩对EPS回正补偿,采用分段PID(Proportional integral derivative)进行闭环控制。建立了EPS硬件在环试验台架,并对提出的控制算法进行试验验证,结果表明车辆在不同附着路面上均具有良好的回正性能。The alignment torque changes significantly on different road, which leads to insufficient/overshoot returnability. Return-to-center control based on the estimation of actual aligning moment is discussed to overcome thenegative effects of adhesion coefficients on return ability. The dynamic model of electric power steering system（EPS） was established. The ideal aligning moment is determined according to speed and steering wheel angle. Themotor speed is estimated based on motor model with variable resistance and back-electromotive force （EMF）coefficient, and the actual aligning moment is obtained from the vehicle dynamics equations with motor current,estimated motor angular velocity and measured steering torque. With the actual and ideal aligning moment, thereturn-to-center compensation is implemented by a segmented PID controller. A hardware-in-loop test bench forEPS was established to validate the proposed algorithm. The results show that the vehicle equipped with thepresented EPS has a good steering wheel return ability on different road surfaces.

关 键 词：电动助力转向系统 电机转速估计 回正力 回正控制 

分 类 号：U26[机械工程—车辆工程]