考虑附着系数的商用车EPS控制策略  

EPS Control Strategy for Commercial Vehicles Considering Adhesion Coefficient

作　　者：李耀华[1] 范吉康 何杰 南友飞 冯乾隆 LI Yaohua;FAN Jikang;HE Jie;NAN Youfei;FENG Qianlong(School of Automobile,Chang’an University,Xi’an 710061,China)

机构地区：[1]长安大学汽车学院,西安710061

出　　处：《重庆理工大学学报（自然科学）》2021年第12期1-9,共9页Journal of Chongqing University of Technology：Natural Science

基　　金：国家自然科学基金项目(51207012);陕西省微特电机及驱动技术重点实验室开放基金项目(2013SSJ2002);中央高校基本科研业务费专项资金资助项目(300102228201);陕西省自然科学基金项目(2020JQ-385)。

摘　　要：为了解决低附着路面上传统电动助力转向(electric power steering,EPS)控制策略导致驾驶员路感下降的问题,分析了不同附着系数路面下转向阻力矩变化,针对商用车设计了考虑附着系数的EPS控制策略,提出基于不同附着系数路面上的阻力矩变化情况的EPS控制策略和基于模糊控制电流补偿的EPS控制策略。通过建立TruckSim/Simulink联合仿真模型,对2种控制策略进行了转向轻便性评价试验及中心转向区路感评价试验。仿真结果表明:提出的2种EPS控制策略均能在保证转向轻便性的同时,提高低附着路面上的行驶安全性及驾驶员的路感。Compared with traditional hydraulic power steering system,electric power steering(EPS),as one of the research hotspots in the field of vehicle engineering,has a simpler structure and is more economical.In recent years,the applications of EPS systems have been expanding from passenger cars to commercial vehicles.In the traditional EPS system,as the road adhesion coefficient is not taken into account,the assist torque is only determined by the vehicle speed and the steering wheel torque during the drives.However,the adhesion coefficient has great influence on the steering resistance torque,which has been verified through theoretical analysis and simulation experiments in the paper.The steering resistance torque will be greatly reduced specifically on low-adhesion roads.In this case,if the boost torque of EPS system behaves the same as that on the high-attachment road,the driver might lose his/her sense of road,which will cause danger.Therefore,the design of EPS boosting characteristic curve by taking the adhesion coefficient into consideration is of great significance to improving the safety for the drivers.The paper analyzes the changes of the steering resistance torque from roads with different adhesion coefficients.Specific for EPS systems in the business vehicles,an EPS control strategy has been designed based on the adhesion coefficient with resistance torque and current compensation.The TruckSim/Simulink co-simulation model was established,and both control strategies were verified in the simulation.The tests show that on the road with better adhesion coefficient,the new EPS designed has similar steering assist characteristics to the traditional one.When the vehicle is running on a road with a low adhesion coefficient,the driver’s hand torque will increase after the new EPS is applied,thereby the possibility of the driver improperly operating the steering wheel can be reduced when the vehicle is driving on a low adhesion road,along with driving safety improvement.Under different lateral acceleration conditio

关 键 词：电动助力转向 路面附着系数 转向阻力矩 模糊控制 

分 类 号：U463.4[机械工程—车辆工程]