摇臂轴助力式循环球EPS系统的控制策略  

Control Strategy of EPS System with Rocker Shaft Assisted Circulating Ball

作　　者：胡鹏 龚伟[1] 谢刚 钟良[1] 廖俊富 李刚 HU Peng;GONG Wei;XIE Gang;ZHONG Liang;LIAO Junfu;LI Gang(School of Manufacturing Science and Engineering,Southwest University of Science and Technology,Mianyang 621010,Sichuan,China;School of Mechanical and Electrical Engineering,Mianyang Teachers’College,Mianyang 621000,Sichuan,China)

机构地区：[1]西南科技大学制造科学与工程学院,四川绵阳621010 [2]绵阳师范学院机电工程学院,四川绵阳621000

出　　处：《西南科技大学学报》2023年第1期75-83,共9页Journal of Southwest University of Science and Technology

基　　金：四川省科技厅区域创新合作项目(2020YFQ0039)。

摘　　要：设计了一种摇臂轴助力式循环球EPS系统,采用滑模控制方法设计系统控制器。在考虑了二级减速机械结构磨损的基础上,建立EPS系统的状态方程,并根据滑模控制理论求出EPS系统的切换函数,然后采用一种优化后的指数趋近律来限制切换函数的1阶导数。通过MATLAB/Simulink建立EPS系统动态模型并仿真,结果表明滑模控制下的EPS系统跟随性好、超调量小,且有效削弱了滑动模态切换引起的抖振。研究结果可供新能源汽车转向系统的设计与开发参考。EPS system with rocker shaft assisted circulating ball was designed,and the sliding mode control method was used to design the system controller.On the basis of considering the wear of the mechanical structure of secondary reducer,the state equation of the EPS system was established,the switching function of the EPS system was obtained according to the sliding mode control theory,and then an optimized exponential approach law was used to limit the first derivative of the switching function.The dynamic model of EPS system was established and simulated by MATLAB/Simulink.The results show that the EPS system under sliding mode control has good following performance and small overshoot,and effectively weakens the chattering caused by sliding mode switching,which can provide a reference for the design and development of the steering system of new energy vehicles.

关 键 词：EPS系统 滑模控制 趋近律 抖振 

分 类 号：U463.4[机械工程—车辆工程]