基于PMSM的线控转向系统路感控制策略  

Road feeling control strategy of steering-by-wire system based on PMSM

作　　者：袁臣虎[1,2] 杨玉明[1,2] 刘晓明[1,2] 王岁[1,2] 李龙女 YUAN Chen-hu;YANG Yu-ming;LIU Xiao-ming;WANG Sui;LI Long-nü(Tianjin Key Laboratory of Advanced Electrical Engineering and Energy Technology,Tianjin Polytechnic University,Tianjin 300387,China;Postdoctoral Research Station in Mechanical Engineering,Tianjin Polytechnic University,Tianjin 300387,China)

机构地区：[1]天津工业大学天津市电工电能新技术重点实验室,天津300387 [2]天津工业大学机械工程博士后科研流动站,天津300387

出　　处：《天津工业大学学报》2019年第4期64-69,共6页Journal of Tiangong University

基　　金：国家自然科学基金重点资助项目（51037004）,国家自然科学基金资助项目（51077097）;天津市科技支撑计划重点资助项目（10ZCKFGX02800）

摘　　要：为保证线控转向系统中转向轮的信息准确传递到方向盘及使驾驶员获得良好的路感,设计了一种基于永磁同步电机(PMSM)的线控转向系统。采用PMSM作为本系统路感模拟电机和转向执行电机,研究了基于PMSM的线控转向系统路感控制方案,建立了线控转向系统和PMSM的数学模型;利用解耦控制思想,分析转向执行电机q轴电流与转向阻力矩的关系,利用电动助力转向系统助力特性,获得方向盘回正力矩。考虑到线控转向系统低速回正不足、高速回正超调以及无机械限位等因素,对方向盘回正力矩进行修正最终推导得出路感力矩,给驾驶员提供路感反馈。仿真和实验结果表明:提出的路感控制策略在路感模拟和回正控制上具有工程可行性。To ensure the accurate transmission of steering wheel information to the steering wheel in the steering-by-wire system and the driver can get a good sense of road,a steering-by-wire system based on permanent magnet synchronous motor (PMSM) was designed.In this system,PMSM was used as road feeling motor and steering executive motor because of its characteristic of high power density and excellent performance.The road feeling control scheme of steering-by-wire system based on PMSM was studied and mathematical model of the steering-by-wire system and the PMSM was set up.The relationship between the q-axis current and the steering resistance moment was analyzed based on decoupling control concept.The steering wheel aligning torque was deduced based on the assistance characteristic of the electric power steering system.Considering the factors of aligning not enough in low speed or overshoot in high speed and no mechanical limit in SBW system,the road feeling torque was obtained through adjusting the aligning torque,which provide good road feeling feedback for drivers.Simulation and experimental results show that the proposed road feeling control strategy is feasible in engineering for road feeling simulation and aligning control.

关 键 词：线控转向系统 永磁同步电机(PMSM) 路感模拟 阻尼控制 回正控制 

分 类 号：TM561.2[电气工程—电器] V463.4[航空宇航科学与技术—航空宇航制造工程]