线控转向电机自抗扰伺服控制系统研究  

Research on auto-disturbance rejection servo control system of steering-by-wire motor

作　　者：刘军[1] 顾洪钢 刘皓皓 戴昂 LIU Jun;GU Honggang;LIU Haohao;DAI Ang(School of Automobile and Traffic Engineering,Jiangsu University,Zhenjiang 212013,China)

机构地区：[1]江苏大学汽车与交通工程学院,江苏镇江212013

出　　处：《重庆理工大学学报（自然科学）》2023年第12期1-8,共8页Journal of Chongqing University of Technology：Natural Science

基　　金：国家自然科学基金项目(51275212)。

摘　　要：选择永磁同步电机作为转向电机,研究基于自抗扰控制器的电机伺服控制技术。首先,对永磁同步电机在旋转交直轴坐标系下的数学模型进行介绍,选择转子磁场定向矢量控制策略。其次,将电机位置、速度环整合,设计了一个二阶自抗扰控制器,减少电机内外扰动的影响,抗干扰能力较PID控制器有较大提升。针对二阶自抗扰控制参数众多、调节困难的问题,利用模糊算法对自抗扰控制器的非线性状态反馈控制器参数进行优化,设计了永磁同步电机伺服控制系统位置速度模糊自抗扰控制器。最后,在Simulink中搭建电机控制模型并进行仿真分析,验证本文中控制策略以及算法优越性。Presently,with the rapid development of control technology and electronics,automobile intelligence and electronization have become the mainstream trend.The steer-by-wire system cancels the mechanical connection of the traditional steering system,and transmits the driving intention to the steering actuator through the bus,which facilitates the overall layout of the steering system,while optimizing the steering characteristics of the car and further improving the handling stability of the car.Meanwhile,steering by wire is also a key technology for automatic driving to achieve vehicle path tracking and obstacle avoidance.The main function of the steer-by-wire system is to follow the wheel angle to the steering wheel angle,which requires the steering motor to track the steering wheel angle quickly and accurately.In the meantime,the steering executive motor entirely supplies the driving force for wheel response to the driving intention in the steer-by-wire system.The control of the steering motor serves as the core of the whole control system,determining the quality of the steering performance.This paper focuses on formulating a steering motor control algorithm in line with the steer-by-wire system,aiming to achieve the driver’s steering intention.Most of the current steer-by-wire systems use brushed DC motors and brushless DC motors as road sense motors and steering motors.Among them,the brushed DC motor is low in power density,easy to spark and has short service life,and when high-power commutation.Brushless DC motor achieves long service life,but has poor low-speed performance,which affects the driver’s driving feel when steering.Although the control of Permanent Magnet Synchronous Motor(PMSM)is more complicated,it has the advantages of high power density,small rotation pulsation,good low-speed performance and long service life,and is suitable for wire control steering motor.However,PMSM is a strong coupling and nonlinear time-varying system.Traditional PID control has its own limitations and weak anti-interfer

关 键 词：永磁同步电机 自抗扰控制 模糊控制 伺服控制 MATLAB/SIMULINK 

分 类 号：U491.6[交通运输工程—交通运输规划与管理]