电动助力转向系统的控制及试验研究
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摘要
汽车电动转向系统(EPS)是近年来出现的新一代智能化助力转向系统,与传统的转向系统相比,电动助力转向系统具有智能、节能、环保、主动安全性高、结构简单、安装方便等显著特点。
电动助力转向系统主要由机械转向器、电子控制单元、助力电机、减速机构、转矩转角传感器、车速传感器等部分组成。它通过控制策略和控制算法给助力电机指令实现助力大小随车速变化而调整,比较好地解决了在助力转向中,驾驶员获得不同转向路感的问题。论文首先分析和研究了电动助力转向系统的的机械部分和电气部分的各构成环节和作用;介绍了本文应用的研究方法多体系统运动学理论以及在此基础上应用的多体动力学分析软件ADAMS,并在ADAMS/view中建立了电动助力转向系统的动力学模型和简单的助力和回正控制策略。
为了更好的研究电动助力转向系统的动态特性,在ADAMS/view中建立含有电动助力转向系统的整车模型,并研究了无助力情况下整车转向力矩和回正的情况,为研助力曲线提供基础。
论文在MATLAB/Simulink中建立了电动助力转向系统控制策略、电机电流PID控制器等控制模块,并建立了助力电机的仿真模型。利用ADAMS和MATLAB的接口进行了电动助力转向系统的动态转向的联合仿真试验。研究了电动转向系统动态转向过程中的助力特性和回正特性。本文的仿真试验研究为以后的电动助力转向系统的研究提供了一种方便有效的研究方法和途径。
本文研究中,以工业控制计算机为核心,以MATLAB/Simulink为软件控制程序和接口程序,以工业控制采集卡为控制硬件接口建立了电动助力转向系统的静态半物理模型试验台。发现并解决了在仿真试验中出现的硬件问题。本论文试验台的搭建为电动助力转向系统的模拟试验研究提供验证依据,并为深入研究电动助力转向系统提供了试验基础。
Electric Power Steering system(EPS) appeared recently is a new generation of intelligent power steering system. Compared with the traditional power steering system, the electric power steering system has many advantages, such as more intelligent, engine efficiency, environmental compatibility, safe initiative, simple in structure, easy for installation, etc. Now it is widely used in addition to large passenger vehicles other than passenger cars in all.
EPS is mainly consisted of mechanical steering parts, the electronic control unit, assist motor, reduction mechanism, torque sensor, steering wheel angle sensor, speed sensor, and other components. It adopted control strategy and control algorithm to control assist motor which generate assist torque according to the steering torque from torque sensor and to steering angle from steering angle sensor. It offers a better solution in the power steering that the driver can have a various steering feels in different situations. Firstly the author dived into the analysis and study of every part of EPS. Secondly, multi-body dynamics analysis software ADAMS was introduced which is based on the application of theory of multi-body system in this kinematics .Then a simple kinetic model of EPS established in ADAMS/view. Tow simple control strategies were tested based on the EPS model.
In order to study the dynamic characteristics of EPS, the vehicle model is established in ADAMS/view ,which contain EPS. Assist-torque and return-to-center Performance was studied based on the vehicle model .The data got from simulation test without assist torque would provide a basis for ideal assist current table.
In the MATLAB/Simulink,EPS control strategy module and the electrical current PID controller module was established, as well as the model of assist motor. Through the co-simulation of ADAMS/view and MATLAB/Simulink, the dynamic characteristics of assist performance and return-to-center performance were studied. The paper provided a convenient and efficient way for the study of EPS.
In this paper, semi-physical model test bench was built up whose heart is industrial control computer. Trough MATLAB/Simulink, control software interface is made possible and industrial control board is used as hardware interface. During mock-up test, some problems in the hardware was discovered and solved perfectly. This semi-physical model test bench offered a good method to test your control strategy and control algorithm, as well as a agreeable way to further study EPS.
电动助力转向系统主要由机械转向器、电子控制单元、助力电机、减速机构、转矩转角传感器、车速传感器等部分组成。它通过控制策略和控制算法给助力电机指令实现助力大小随车速变化而调整,比较好地解决了在助力转向中,驾驶员获得不同转向路感的问题。论文首先分析和研究了电动助力转向系统的的机械部分和电气部分的各构成环节和作用;介绍了本文应用的研究方法多体系统运动学理论以及在此基础上应用的多体动力学分析软件ADAMS,并在ADAMS/view中建立了电动助力转向系统的动力学模型和简单的助力和回正控制策略。
为了更好的研究电动助力转向系统的动态特性,在ADAMS/view中建立含有电动助力转向系统的整车模型,并研究了无助力情况下整车转向力矩和回正的情况,为研助力曲线提供基础。
论文在MATLAB/Simulink中建立了电动助力转向系统控制策略、电机电流PID控制器等控制模块,并建立了助力电机的仿真模型。利用ADAMS和MATLAB的接口进行了电动助力转向系统的动态转向的联合仿真试验。研究了电动转向系统动态转向过程中的助力特性和回正特性。本文的仿真试验研究为以后的电动助力转向系统的研究提供了一种方便有效的研究方法和途径。
本文研究中,以工业控制计算机为核心,以MATLAB/Simulink为软件控制程序和接口程序,以工业控制采集卡为控制硬件接口建立了电动助力转向系统的静态半物理模型试验台。发现并解决了在仿真试验中出现的硬件问题。本论文试验台的搭建为电动助力转向系统的模拟试验研究提供验证依据,并为深入研究电动助力转向系统提供了试验基础。
Electric Power Steering system(EPS) appeared recently is a new generation of intelligent power steering system. Compared with the traditional power steering system, the electric power steering system has many advantages, such as more intelligent, engine efficiency, environmental compatibility, safe initiative, simple in structure, easy for installation, etc. Now it is widely used in addition to large passenger vehicles other than passenger cars in all.
EPS is mainly consisted of mechanical steering parts, the electronic control unit, assist motor, reduction mechanism, torque sensor, steering wheel angle sensor, speed sensor, and other components. It adopted control strategy and control algorithm to control assist motor which generate assist torque according to the steering torque from torque sensor and to steering angle from steering angle sensor. It offers a better solution in the power steering that the driver can have a various steering feels in different situations. Firstly the author dived into the analysis and study of every part of EPS. Secondly, multi-body dynamics analysis software ADAMS was introduced which is based on the application of theory of multi-body system in this kinematics .Then a simple kinetic model of EPS established in ADAMS/view. Tow simple control strategies were tested based on the EPS model.
In order to study the dynamic characteristics of EPS, the vehicle model is established in ADAMS/view ,which contain EPS. Assist-torque and return-to-center Performance was studied based on the vehicle model .The data got from simulation test without assist torque would provide a basis for ideal assist current table.
In the MATLAB/Simulink,EPS control strategy module and the electrical current PID controller module was established, as well as the model of assist motor. Through the co-simulation of ADAMS/view and MATLAB/Simulink, the dynamic characteristics of assist performance and return-to-center performance were studied. The paper provided a convenient and efficient way for the study of EPS.
In this paper, semi-physical model test bench was built up whose heart is industrial control computer. Trough MATLAB/Simulink, control software interface is made possible and industrial control board is used as hardware interface. During mock-up test, some problems in the hardware was discovered and solved perfectly. This semi-physical model test bench offered a good method to test your control strategy and control algorithm, as well as a agreeable way to further study EPS.
引文
[1]张为春,王永洲等.汽车构造,机械工业出版社.2001.6
[2]王望予.汽车设计.机械工业出版社.2000.5
[3]福特公司.steering systems report.汽车工业.2005
[4]冯樱,肖生发,罗永革.汽车电子控制式电动助力转向系统的发展.湖北汽车工业学院学报,2001,(3)
[5]林逸.施国标.汽车电动助力转向系统的发展趋势与现状,公路交通科技.200118(3):79-82
[6]陈奎元,季学武.汽车电动助力转向系统评述.清华大学汽车工程系.1998
[7]季学武,陈奎元.动力转向系统的发展与节能.世界汽车.1999第十期
[8]Ken.Okamoto.Recent Technical Trends in Automobiles and NSKs innovations and Developments Relating to Automotive Components.Motion&Control No.2.1997
[9]Yuji Kozaki,Goro Hirose,Shozo Sekiya and Yasuhiko Miyaura.Electric Power steering.Motion&Control No.6 1999
[10]A.OSUKA,Y.MATSUOKA,T.TSUTSHI,Y.OBATA.DROULERS.Development of Pinion-Assist Type Electric Power Steering System[J].Koyo Engineering Journal English Edition No.16IE.2002
[11]季学武,陈奎元.电动助力转向系统的发展及其关键技术.江苏大学学报.2001
[12]邱明,杨家军.基于H-鲁棒控制原理的电动助力转向系统研究.华中科技大学学报.自然科学版,2002,(5)
[13]Aly Badawy,Jeff Zuraski.Modeling and Analysis of an Electric Power Steerin system.SAE Paper 1999-01-0399.
[14]Nobuyuki Ueki,Jun Kubo,Toshio Takayama,Issei Kanari,Masaaki Uchiyama.Vehicle Dynamics Electric Control Systems for Safe Driving.Hitachi Review Vol.53(2004),No.4
[15]Sanket Amberkar,Farhad Bolourchi,Jon Demerly and Scott Millsap.A Control System Methodology for Steer by Wire Systems 2004 SAE World CongressDetroit,Michigan March 8-11,2004
[16]杨树,唐新蓬.汽车电动助力转向盘力特性的初步研究.汽车技术,2003.3
[17]黄李琴,季学武,陈奎元.汽车电动助力转向控制系统的初步研究.汽车技术,2003,(6)
[18]高钟毓.机电控制工程.北京:清华大学出版社.2001
[19]Toshinori Tanaka.Motors for Electric Power Steering.Mitsubishi Electric ADVANCE.September 2003.9
[20]郁强,张金华.电动转向系统开发与研究.轻型汽车技术,2002.8
[21]Ji-Hoon Kim,Jae-Bok Song.control logic for an electric powers steering system using assist motor mechatronics 12(2002)447-459
[22]Aly Badawy,Jeff Zuraski,Farhad Bolourchi and Ashok Chand.Modeling and Analysis of an ElectricPower Steering Systemy.Delphi Saginaw Steering Systems International Congress and Exposition.Detroit,Michigan March 1-4,1999.
[23]李军,刑俊文,谭文杰等.ADAMS试验教程,北京:北京理工大学出版社
[24]Y Du,M A Lion,P MaiBer Modelling and control of an electromechanical steering system in full vehicle models.Systems and Control Engineering.Proc.IMechE Vol.220 PartⅠ:J
[25]Cassandra Schell,Ryan Muschong,Jason Rhinehart.Friction and Backlash Compensation of an Electronic Steering System
[26]林逸等.电动助力转向控制策略的研究.汽车技术,2002(12):8-10
[27]孙净,孙泊力.新型进口汽车微机控制系统及网络使用维修.福建科学技术出版.1999
[28]牟春燕.电动助力转向系统的控制策略.烟台师范学院学报.2006,22(2):158-160
[29]Roy McCann Variable Effort Steering for Vehicle Stability Enhancement Using an Electric Power Steering System.SAE 2000 World CongressDetroit,Michigan March 6-9,2000
[30]黄李琴,季学武,陈奎元.汽车电动助力转向控制系统的初步研究.汽车技术,2003,(6).
[31]孟涛,余卓平,陈慧,张立军,陈晖.电动助力转向控制策略研究及试验验证.汽车技术.2005.5 26-30
[32]Volkswagen of America.Inc.Electro-mechanical Power Steering Self-Study Program Course Number 892403,2004.12.04
[33]刘照.汽车电动助力转向系统动力学分析与控制方法研究:博士论文,武汉:华中科技大学图书馆.2004
[34]耿谦,胡树根,王耘.EPS助力特性对汽车转向回正的影响分析.机械工程师,2006.9:43-45。
[35]Masahiko Kurishige,Shunichi wada,Takayuki Kifuku,et al.A new EPS Control Strategy to Improve Steering Wheel Returnability.SAE paper,2000-01-0815
[36]潘工宇.现代控制技术的电动转向系统.汽车技术,1995,(7).
[37]Chevrolet Cobalt.Power Steering System Description and Operation.2005
[38]宋武强,佘建强,姚胜华,肖生发,杨苍梁.电动助力转向系统控制器的设计.湖北汽车工业学院学报.2004年12月,第18卷,第4期
[39]郑安平,王成群,赵秀花.IR2XXX三相桥功率驱动芯片的原理及应用.国外电子元器.2000.7.
[40]楚斌.IR2110功率驱动集成芯片应用.电子工程师.2004.10
[41]王晓明.电动机的单片机控制.北京航空航天大学出版社.2002.5
[42]高钟毓,王永梁.机电控制工程.清华大学出版社,1994.9
[2]王望予.汽车设计.机械工业出版社.2000.5
[3]福特公司.steering systems report.汽车工业.2005
[4]冯樱,肖生发,罗永革.汽车电子控制式电动助力转向系统的发展.湖北汽车工业学院学报,2001,(3)
[5]林逸.施国标.汽车电动助力转向系统的发展趋势与现状,公路交通科技.200118(3):79-82
[6]陈奎元,季学武.汽车电动助力转向系统评述.清华大学汽车工程系.1998
[7]季学武,陈奎元.动力转向系统的发展与节能.世界汽车.1999第十期
[8]Ken.Okamoto.Recent Technical Trends in Automobiles and NSKs innovations and Developments Relating to Automotive Components.Motion&Control No.2.1997
[9]Yuji Kozaki,Goro Hirose,Shozo Sekiya and Yasuhiko Miyaura.Electric Power steering.Motion&Control No.6 1999
[10]A.OSUKA,Y.MATSUOKA,T.TSUTSHI,Y.OBATA.DROULERS.Development of Pinion-Assist Type Electric Power Steering System[J].Koyo Engineering Journal English Edition No.16IE.2002
[11]季学武,陈奎元.电动助力转向系统的发展及其关键技术.江苏大学学报.2001
[12]邱明,杨家军.基于H-鲁棒控制原理的电动助力转向系统研究.华中科技大学学报.自然科学版,2002,(5)
[13]Aly Badawy,Jeff Zuraski.Modeling and Analysis of an Electric Power Steerin system.SAE Paper 1999-01-0399.
[14]Nobuyuki Ueki,Jun Kubo,Toshio Takayama,Issei Kanari,Masaaki Uchiyama.Vehicle Dynamics Electric Control Systems for Safe Driving.Hitachi Review Vol.53(2004),No.4
[15]Sanket Amberkar,Farhad Bolourchi,Jon Demerly and Scott Millsap.A Control System Methodology for Steer by Wire Systems 2004 SAE World CongressDetroit,Michigan March 8-11,2004
[16]杨树,唐新蓬.汽车电动助力转向盘力特性的初步研究.汽车技术,2003.3
[17]黄李琴,季学武,陈奎元.汽车电动助力转向控制系统的初步研究.汽车技术,2003,(6)
[18]高钟毓.机电控制工程.北京:清华大学出版社.2001
[19]Toshinori Tanaka.Motors for Electric Power Steering.Mitsubishi Electric ADVANCE.September 2003.9
[20]郁强,张金华.电动转向系统开发与研究.轻型汽车技术,2002.8
[21]Ji-Hoon Kim,Jae-Bok Song.control logic for an electric powers steering system using assist motor mechatronics 12(2002)447-459
[22]Aly Badawy,Jeff Zuraski,Farhad Bolourchi and Ashok Chand.Modeling and Analysis of an ElectricPower Steering Systemy.Delphi Saginaw Steering Systems International Congress and Exposition.Detroit,Michigan March 1-4,1999.
[23]李军,刑俊文,谭文杰等.ADAMS试验教程,北京:北京理工大学出版社
[24]Y Du,M A Lion,P MaiBer Modelling and control of an electromechanical steering system in full vehicle models.Systems and Control Engineering.Proc.IMechE Vol.220 PartⅠ:J
[25]Cassandra Schell,Ryan Muschong,Jason Rhinehart.Friction and Backlash Compensation of an Electronic Steering System
[26]林逸等.电动助力转向控制策略的研究.汽车技术,2002(12):8-10
[27]孙净,孙泊力.新型进口汽车微机控制系统及网络使用维修.福建科学技术出版.1999
[28]牟春燕.电动助力转向系统的控制策略.烟台师范学院学报.2006,22(2):158-160
[29]Roy McCann Variable Effort Steering for Vehicle Stability Enhancement Using an Electric Power Steering System.SAE 2000 World CongressDetroit,Michigan March 6-9,2000
[30]黄李琴,季学武,陈奎元.汽车电动助力转向控制系统的初步研究.汽车技术,2003,(6).
[31]孟涛,余卓平,陈慧,张立军,陈晖.电动助力转向控制策略研究及试验验证.汽车技术.2005.5 26-30
[32]Volkswagen of America.Inc.Electro-mechanical Power Steering Self-Study Program Course Number 892403,2004.12.04
[33]刘照.汽车电动助力转向系统动力学分析与控制方法研究:博士论文,武汉:华中科技大学图书馆.2004
[34]耿谦,胡树根,王耘.EPS助力特性对汽车转向回正的影响分析.机械工程师,2006.9:43-45。
[35]Masahiko Kurishige,Shunichi wada,Takayuki Kifuku,et al.A new EPS Control Strategy to Improve Steering Wheel Returnability.SAE paper,2000-01-0815
[36]潘工宇.现代控制技术的电动转向系统.汽车技术,1995,(7).
[37]Chevrolet Cobalt.Power Steering System Description and Operation.2005
[38]宋武强,佘建强,姚胜华,肖生发,杨苍梁.电动助力转向系统控制器的设计.湖北汽车工业学院学报.2004年12月,第18卷,第4期
[39]郑安平,王成群,赵秀花.IR2XXX三相桥功率驱动芯片的原理及应用.国外电子元器.2000.7.
[40]楚斌.IR2110功率驱动集成芯片应用.电子工程师.2004.10
[41]王晓明.电动机的单片机控制.北京航空航天大学出版社.2002.5
[42]高钟毓,王永梁.机电控制工程.清华大学出版社,1994.9