嵌入式电子助力转向系统研究  

Research on Embedded Electronic Power Steering System

作　　者：王栋[1] 张晓俊 WANG Dong;ZHANG Xiaojun(Department of Electronic and Communication Engineering,Suzhou Vocational Institute of Industrial Technology,Suzhou,Jiangsu 215000,China;School of Optelectronic Science and engineering,Suzhou University,Suzhou,Jiangsu 215006,China)

机构地区：[1]苏州工业职业技术学院电子与通信工程系,江苏苏州215000 [2]苏州大学光电科学与工程学院,江苏苏州215006

出　　处：《电子器件》2022年第1期235-238,共4页Chinese Journal of Electron Devices

基　　金：2019年江苏省高校青蓝工程项目。

摘　　要：电子转向助力技术能够有效驱动汽车转向。为提高其转向控制的稳定性和准确性,设计了一种嵌入式电子助力转向系统。首先针对传统的电子助力转向系统,利用牛顿第二定律建立其动力学模型,为控制器设计及构建硬件环境奠定基础。其次,针对典型电子转向助力系统的动力学模型,为降低其运动之间的摩擦对控制性能的影响,设计了自适应摩擦前馈补偿控制器,并根据Lyapunov稳定性原则确定了自适应控制率解析表达式。再次,以STM32F407嵌入式控制器为核心,搭建系统硬件平台并设计软件流程。最后,基于此平台展开试验验证,系统通过跟踪阶跃指令和正弦指令对比分析了传统PID算法和自适应摩擦前馈补偿算法,试验结果表明自适应前馈补偿算法可提高系统稳态精度和动态响应能力,并验证所设计的嵌入式电子助力转向系统的正确性和完整性。In order to improve the stability and accuracy of steering control, an embedded electronic power steering system is designed. Firstly, aiming at the traditional electronic power steering system, the dynamic model is established by Newton’s second law, which lays the foundation for the controller design and system construction. Secondly, in order to reduce the influence of the friction between the moving pairs on the control accuracy, an adaptive friction feedforward compensation controller is designed, and the analytic expression of the adaptive control rate is determined according to the Lyapunov stability principle. Thirdly, STM32 F407 embedded controller is taken as the core unit, the system hardware platform is built, and the software flow is designed. Finally, based on this platform, the experiment is carried out to verify the performance of the system. The traditional PID algorithm and the adaptive friction feed-forward compensation algorithm are compared and analyzed by tracking step instruction and sine instruction. The experiment results show that the adaptive feed-forward compensation algorithm can improve the steady-state accuracy and dynamic response ability of the system, which verifies the correctness and integrity of the designed embedded electronic power steering system.

关 键 词：电子转向助力系统 自适应 控制器 动态响应 

分 类 号：TN911.7-34[电子电信—通信与信息系统]