基于分岔理论的电动助力转向系统控制策略及其对汽车操纵稳定性影响的研究
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摘要
随着高速公路的发展,汽车行驶速度越来越快,人们对汽车整体性能的要求也不断在提高,而转向系统对汽车整车行驶性能(如操纵稳定性、行驶平顺性等)有举足轻重的影响。作为直接影响汽车安全性能的重要部件之一,电动助力转向(EPS)系统在国内已从理论研究探索阶段逐步走向产品化阶段,本文依托江苏省“六大人才高峰”资助项目:轿车电动助力转向系统研究与开发,以EPS系统为研究对象,以现代非线性动力学分岔和混沌为理论基础,借助现代计算机技术,构建了装备EPS系统的整车操纵稳定性协同仿真虚拟试验框架,围绕着装备EPS系统的汽车非线性动力学、EPS系统的控制策略及其对整车操纵稳定性的影响等展开深入的理论分析和试验研究,具体研究内容如下:
首先考虑EPS系统干摩擦仿真模型以及魔术轮胎公式,建立驾驶员——装备EPS系统汽车闭环系统非线性操纵动力学模型,在此基础上运用现代非线性动力学理论对该模型在自治情况下进行非线性动力学特性分析和数值仿真,指出了分岔速度对闭环系统非线性运动稳定性的影响规律,分析了整车参数对闭环系统Hopf分岔速度的影响,着重研究了EPS系统参数对闭环系统Hopf分岔速度的影响。
其次从EPS系统控制的基本目标和常见的EPS系统控制策略入手,给出了直流电动机电流闭环PI控制的设计方法,并在此基础上应用混合灵敏度方法设计出了鲁棒H_∞控制器。通过仿真结果分析表明基于PI电流环的混合灵敏度鲁棒H_∞控制器能在较宽频带范围内增强地面低频信号、削弱高频信号和抑制转矩传感器的噪声,所设计的控制器有较强鲁棒性,助力跟踪能力和抗干扰能力,能有效改善车辆的转向回正特性,提供给驾驶员较为满意的路感,提高车辆的转向操纵性能。
第三、通过采用EPS系统电磁离合器PWM节能控制策略,即随着转向盘转矩的变化来实时改变通过电磁离合器的电流,从而改变电磁离合器所传递的转矩。由于通过电磁离合器的电流减小,其发热量也减小,可以适当减小电磁离合器线圈的铜线直径,减轻重量,降低成本。经过台架试验验证所提出的控制策略的合理性,节能效果明显,能满足使用的要求,还达到环保的目的。在研究了现有电磁离合器结构基础上,提出了一种啮合套式电磁离合器的结构方案,提高电磁离合器的响应速度,改善EPS系统的转向特性,获得国家专利授权。
第四、利用MATLAB/Simulik建立了考虑驾驶员——汽车闭环非线性操纵动力学模型,在此基础上建立了考虑EPS系统转向运动数学模型,并使用该模型对装备EPS系统整车操纵稳定性进行了仿真研究,讨论了EPS系统对整车操纵稳定性的影响,通过仿真分析出EPS系统的结构参数,如助力机构减速比、转矩传感器扭杆刚度、助力增益等,以及EPS系统采用不同的控制策略对整车操纵稳定性能的影响。
最后以某型号轿车为例,在ADAMS/Car组装成装备EPS系统整车虚拟样机模型,并与MATLAB/Simulink构建装备EPS系统整车协同仿真虚拟试验,实现了机电一体化的联合仿真。通过几个典型工况的操纵稳定性虚拟试验仿真与实车道路试验结果对比表明,装备混合灵敏度鲁棒H_∞控制器的EPS系统能有效改善汽车操纵稳定性,同时表明所构建虚拟试验平台能较真实反映实车试验。
本文研究方法和结论对国内研发具有自主知识产权的EPS系统具体设计工作,解决EPS系统与汽车操纵稳定性匹配等问题具有指导作用和参考价值,有利于加快其产业化步伐。
With the high development of the expressway, the speed of modern vehicles is becoming faster and faster. The people's demand on the whole performance of vehicle is also becoming higher and higher. The steering system is effecting on the ride performance of vehicle more and more, such as handling and stability, ride comfort etc. Nowadays, as a most important safety system in the vehicle, EPS system technology has the trend of putting into production. The work is supported in part by grants from the project "Study and Development on the Electric Power Steering System of automobile" sponsored by Jiangsu Province Six Kinds Talents Summit for providing financial support. This thesis focuses on the EPS system as investigated subject by using computer technique based on nonlinear dynamic theory foundation. The virtual co-simulation frame of vehicle equipped with EPS system handling and stability performance test is established. And research work is carried out to the vehicle of nonlinear dynamic equipped with EPS system, the control strategy of EPS system and its influences on vehicle both in theories and in experiments. The principal contents are as following:
First, it has been established that driver-vehicle equipped with EPS system closed loop nonlinear handling dynamics simulation model by considering dry-friction simulink model of EPS system and Magic Formula of tire, which has been carried out on nonlinear dynamic characteristic analysis and numerical simulation under autonomous case. The influencing laws of bifurcation vehicle speed on motion stability of closed loop nonlinear system are on discussed. The influence of parameters of the automobile on bifurcation vehicle speed is also being studied. The influence of parameters of the EPS system on bifurcation vehicle speed is investigated on in details.
Secondly, based on the basic target and familiar control strategy of EPS system, design methods of the classical PI controlling the current loop of the electromotor are researched and robust H_∞controller of EPS system by H_∞mixed sensitivity is put forward. The simulation results indicate that H_∞mixed sensitivity controller with PI current loop can improve the capability of low frequency noise enhancement and high frequency enervation in wide frequency band, and attenuate noise of torque sensor. The designed control system for EPS system exhibits good robust performances in assist tracking and anti-disturbance, greatly enhances the returnability, driver's steering feel, handling characteristic.
Thirdly, the energy-saving method is proposed with PWM control mode for electromagnetic clutch of EPS system, which controls the current of the electromagnetic clutch's coil along with the torque from steering wheel, so that the torque transmitted can be changed as required. Quantity of heat drops because of the current of the electromagnetic clutch's coil diminishing and accordingly reducing the diameter of coil, the weight, the cost. Bench-test results show the proposed method can work well, and at the same time, it can save greatly energy, satisfy the use of requirements, and prevent the pollution of the environment. The configuration schemes about mesh sleeve of electromagnetic clutch based on existing structure have been formed, and the patent has been authorized.
Fourthly, driver-vehicle closed loop nonlinear handling dynamics simulation model has been established using MATLAB/Simulik, based on the mathematics model of steering movement of EPS system. The simulation of handling and stability for the vehicle equipped with EPS system is studied. The influence of the structure parameters and control methods of EPS system on handling and stability of the automobile are discussed, such as reduction ratio, twisting bar stiffness of the torque sensor, assist gain and so on.
Finally, taking a type of car as an example, the virtual prototype model of the vehicle equipped with EPS system under the environment of ADAMS/Car is assembled, and the controller models of EPS system are set up by using MATLAB/Simulink. The handling and stability of whole vehicle is analyzed based on the co-simulation method with ADAMS/Car and MATLAB/Simulink. The real experiments of handling and stability (such as the steering maneuverability test, the steering returnability, the pylon course slalom test, and so on) are carried out. Compared with the virtual experiment, the result shows that EPS system with robust H_∞mixed sensitivity has a good effect on the handling and stability test. Therefore, the virtual experiment can reflect real experiment.
The research methods and study results are useful to develop EPS system with independent intellectual property, settle the match relation with EPS system and handling and stability of whole vehicle for guidance purpose and reference merit, and facilitate the development of EPS system in our country.
首先考虑EPS系统干摩擦仿真模型以及魔术轮胎公式,建立驾驶员——装备EPS系统汽车闭环系统非线性操纵动力学模型,在此基础上运用现代非线性动力学理论对该模型在自治情况下进行非线性动力学特性分析和数值仿真,指出了分岔速度对闭环系统非线性运动稳定性的影响规律,分析了整车参数对闭环系统Hopf分岔速度的影响,着重研究了EPS系统参数对闭环系统Hopf分岔速度的影响。
其次从EPS系统控制的基本目标和常见的EPS系统控制策略入手,给出了直流电动机电流闭环PI控制的设计方法,并在此基础上应用混合灵敏度方法设计出了鲁棒H_∞控制器。通过仿真结果分析表明基于PI电流环的混合灵敏度鲁棒H_∞控制器能在较宽频带范围内增强地面低频信号、削弱高频信号和抑制转矩传感器的噪声,所设计的控制器有较强鲁棒性,助力跟踪能力和抗干扰能力,能有效改善车辆的转向回正特性,提供给驾驶员较为满意的路感,提高车辆的转向操纵性能。
第三、通过采用EPS系统电磁离合器PWM节能控制策略,即随着转向盘转矩的变化来实时改变通过电磁离合器的电流,从而改变电磁离合器所传递的转矩。由于通过电磁离合器的电流减小,其发热量也减小,可以适当减小电磁离合器线圈的铜线直径,减轻重量,降低成本。经过台架试验验证所提出的控制策略的合理性,节能效果明显,能满足使用的要求,还达到环保的目的。在研究了现有电磁离合器结构基础上,提出了一种啮合套式电磁离合器的结构方案,提高电磁离合器的响应速度,改善EPS系统的转向特性,获得国家专利授权。
第四、利用MATLAB/Simulik建立了考虑驾驶员——汽车闭环非线性操纵动力学模型,在此基础上建立了考虑EPS系统转向运动数学模型,并使用该模型对装备EPS系统整车操纵稳定性进行了仿真研究,讨论了EPS系统对整车操纵稳定性的影响,通过仿真分析出EPS系统的结构参数,如助力机构减速比、转矩传感器扭杆刚度、助力增益等,以及EPS系统采用不同的控制策略对整车操纵稳定性能的影响。
最后以某型号轿车为例,在ADAMS/Car组装成装备EPS系统整车虚拟样机模型,并与MATLAB/Simulink构建装备EPS系统整车协同仿真虚拟试验,实现了机电一体化的联合仿真。通过几个典型工况的操纵稳定性虚拟试验仿真与实车道路试验结果对比表明,装备混合灵敏度鲁棒H_∞控制器的EPS系统能有效改善汽车操纵稳定性,同时表明所构建虚拟试验平台能较真实反映实车试验。
本文研究方法和结论对国内研发具有自主知识产权的EPS系统具体设计工作,解决EPS系统与汽车操纵稳定性匹配等问题具有指导作用和参考价值,有利于加快其产业化步伐。
With the high development of the expressway, the speed of modern vehicles is becoming faster and faster. The people's demand on the whole performance of vehicle is also becoming higher and higher. The steering system is effecting on the ride performance of vehicle more and more, such as handling and stability, ride comfort etc. Nowadays, as a most important safety system in the vehicle, EPS system technology has the trend of putting into production. The work is supported in part by grants from the project "Study and Development on the Electric Power Steering System of automobile" sponsored by Jiangsu Province Six Kinds Talents Summit for providing financial support. This thesis focuses on the EPS system as investigated subject by using computer technique based on nonlinear dynamic theory foundation. The virtual co-simulation frame of vehicle equipped with EPS system handling and stability performance test is established. And research work is carried out to the vehicle of nonlinear dynamic equipped with EPS system, the control strategy of EPS system and its influences on vehicle both in theories and in experiments. The principal contents are as following:
First, it has been established that driver-vehicle equipped with EPS system closed loop nonlinear handling dynamics simulation model by considering dry-friction simulink model of EPS system and Magic Formula of tire, which has been carried out on nonlinear dynamic characteristic analysis and numerical simulation under autonomous case. The influencing laws of bifurcation vehicle speed on motion stability of closed loop nonlinear system are on discussed. The influence of parameters of the automobile on bifurcation vehicle speed is also being studied. The influence of parameters of the EPS system on bifurcation vehicle speed is investigated on in details.
Secondly, based on the basic target and familiar control strategy of EPS system, design methods of the classical PI controlling the current loop of the electromotor are researched and robust H_∞controller of EPS system by H_∞mixed sensitivity is put forward. The simulation results indicate that H_∞mixed sensitivity controller with PI current loop can improve the capability of low frequency noise enhancement and high frequency enervation in wide frequency band, and attenuate noise of torque sensor. The designed control system for EPS system exhibits good robust performances in assist tracking and anti-disturbance, greatly enhances the returnability, driver's steering feel, handling characteristic.
Thirdly, the energy-saving method is proposed with PWM control mode for electromagnetic clutch of EPS system, which controls the current of the electromagnetic clutch's coil along with the torque from steering wheel, so that the torque transmitted can be changed as required. Quantity of heat drops because of the current of the electromagnetic clutch's coil diminishing and accordingly reducing the diameter of coil, the weight, the cost. Bench-test results show the proposed method can work well, and at the same time, it can save greatly energy, satisfy the use of requirements, and prevent the pollution of the environment. The configuration schemes about mesh sleeve of electromagnetic clutch based on existing structure have been formed, and the patent has been authorized.
Fourthly, driver-vehicle closed loop nonlinear handling dynamics simulation model has been established using MATLAB/Simulik, based on the mathematics model of steering movement of EPS system. The simulation of handling and stability for the vehicle equipped with EPS system is studied. The influence of the structure parameters and control methods of EPS system on handling and stability of the automobile are discussed, such as reduction ratio, twisting bar stiffness of the torque sensor, assist gain and so on.
Finally, taking a type of car as an example, the virtual prototype model of the vehicle equipped with EPS system under the environment of ADAMS/Car is assembled, and the controller models of EPS system are set up by using MATLAB/Simulink. The handling and stability of whole vehicle is analyzed based on the co-simulation method with ADAMS/Car and MATLAB/Simulink. The real experiments of handling and stability (such as the steering maneuverability test, the steering returnability, the pylon course slalom test, and so on) are carried out. Compared with the virtual experiment, the result shows that EPS system with robust H_∞mixed sensitivity has a good effect on the handling and stability test. Therefore, the virtual experiment can reflect real experiment.
The research methods and study results are useful to develop EPS system with independent intellectual property, settle the match relation with EPS system and handling and stability of whole vehicle for guidance purpose and reference merit, and facilitate the development of EPS system in our country.
引文
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