基于驾驶模拟器硬件在环的EPS助力特性研究  

Research on assisted characteristics of EPS for hardware in loop based on driving simulator

作　　者：曹景胜[1,2] 李刚[1] 段敏[1] 师合迪 刘丛浩 CAO Jingsheng;LI Gang;DUAN Min;SHI Hedi;LIU Conghao(College of Automobile and Transportation Engineering,Liaoning University of Technology,Jinzhou,Liaoning 121001,China;Collaborative Innovation Center for Key Technologies of Automotive and Parts,Liaoning University of Technology,Jinzhou,Liaoning 121001,China)

机构地区：[1]辽宁工业大学汽车与交通工程学院,辽宁锦州121001 [2]辽宁工业大学汽车及零部件关键技术协同创新中心,辽宁锦州121001

出　　处：《中国科技论文》2018年第16期1864-1870,共7页China Sciencepaper

基　　金：国家自然科学基金资助项目(51675257,51305190);辽宁省教育厅重大科技平台项目(JP2016014);辽宁省科技厅联合基金项目(201602369)

摘　　要：针对四轮独立驱动电动汽车驱动方式的特点,建立了电动助力转向(electric power steering,EPS)动力学模型,计算了四轮独立驱动电动车附加横摆力矩的驱动力分配和EPS系统的助力特性曲线,并设计了模糊控制器。对所建立的EPS模型和控制器进行了驾驶模拟器硬件在环双纽线、回正、双移线试验。仿真试验结果表明,所设计的助力特性曲线达到了控制预期目标,具有良好的助力效果,有利于提高电动汽车的操作灵敏性及转向稳定性,改善了其行驶的安全性能。Electric power steering （EPS） dynamic model, including mechanical steering system and motor model, is established according to the characteristic of driving mode of four-wheel independent drive electrical vehicle. The driving force distribution of auxiliary yaw moment and the power characteristic curve of EPS system are calculated and a fuzzy controller is designed. The driving simulator hardware in loop dual loop test, lemniscates return test and double lane change test are carried out for the established EPS model and controller. Simulation results show that the designed power characteristic curve reaches the expected control target with better assisted effect, which boosts the operating flexibility, steering stability and driving safety performance of electric vehicle.

关 键 词：车辆工程 电动汽车 四轮独立驱动 驾驶模拟器 硬件在环 电动助力转向 

分 类 号：U463.4[机械工程—车辆工程]