基于电动助力转向系统的转向盘转角跟随算法
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摘要
提出了一种基于电动助力转向系统(EPS)的转向盘转角跟随控制算法。该算法在三闭环位置控制方法基础上,应用三步非线性控制方法设计位置环和转速环,以提高转角跟随的响应速度、控制精度和工程实用性。为证明该三闭环三步法转角控制(TTAC)算法的有效性,与传统的PI三闭环位置控制方法分别进行了基于Carsim和Simulink的联合仿真对比和基于EPS原地转向实验台的试验对比,结果表明:本文提出的转向盘转角跟随算法能使转向盘转角以很小的滞后和误差跟随上转向指令的输入,更适合自主转向。
The steering system,which can accurately execute the steering command,is an important actuator to ensure the steering of vehicle to be operated according to the intelligent autonomous steering drive.In this paper,a steering angle following control algorithm of electric power steering system is proposed.Based on three-loop position control method,the algorithm improves the response speed,the control precision of steering angle and engineering practicability by using tripestep nonlinear control method to design the position loop and speed loop.To verify the effectiveness of the proposed Three-loop Triple-step Angle Control(TTAC)algorithm,simulation based on Carsim and Simulink and experiment based on experimental bench of EPS are carried out respectively in comparison with PI three-loop position control method.Results show that the proposed steering wheel angle tracking control strategy can make the steering wheel angle follow the input steering instructions with small hysteresis and error,which is suitable for intelligent autonomous steering drive.
The steering system,which can accurately execute the steering command,is an important actuator to ensure the steering of vehicle to be operated according to the intelligent autonomous steering drive.In this paper,a steering angle following control algorithm of electric power steering system is proposed.Based on three-loop position control method,the algorithm improves the response speed,the control precision of steering angle and engineering practicability by using tripestep nonlinear control method to design the position loop and speed loop.To verify the effectiveness of the proposed Three-loop Triple-step Angle Control(TTAC)algorithm,simulation based on Carsim and Simulink and experiment based on experimental bench of EPS are carried out respectively in comparison with PI three-loop position control method.Results show that the proposed steering wheel angle tracking control strategy can make the steering wheel angle follow the input steering instructions with small hysteresis and error,which is suitable for intelligent autonomous steering drive.
引文
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[16]胡云峰,顾万里,梁瑜,等.混合动力汽车启停非线性控制器设计[J].吉林大学学报:工学版,2017,47(4):1207-1216.Hu Yun-feng,Gu Wan-li,Liang Yu,et al.Startstop control of hybrid vehicle based on nonlinear method[J].Journal of Jilin University(Engineering and Technology Edition),2017,47(4):1207-1216.
[17]刘栋良.永磁同步电机伺服系统非线性控制策略的研究[D].杭州:浙江大学电气工程学院,2005.Liu Dong-liang.Research on PMSM servo system and nonlinear control strategy[D].Hangzhou:College of Electrical Engineering,Zhejiang University,2005.
[18]Jahns T M.Flux-weakening regime operation of an interior permanent-magnet synchronous motor drive[J].IEEE Transactions on Industry Applications,1987,23(4):681-689.
[2]刘春强,骆光照,涂文聪,等.基于自抗扰控制的双环伺服系统[J].中国电机工程学报,2017,37(23):7032-7039.Liu Chun-qiang,Luo Guang-zhao,Tu Wen-cong,et al.Servo systems with double closed-loops based on active disturbance rejection controllers[J].Proceedings of the CSEE,2017,37(23):7032-7039.
[3]滕福林,胡育文,刘洋,等.位置/电流两环结构位置伺服系统的跟随性能[J].电工技术学报,2009,24(10):40-46.Teng Fu-lin,Hu Yu-wen,Liu Yang,et al.Tracking performance of position servo system only with position and current loops[J].Transactions of China Electrotechnical Society,2009,24(10):40-46.
[4]韩江,苏志远.直线电机进给伺服系统的自适应模糊位置控制研究[J].合肥工业大学学报:自然科学版,2008,31(1):136-139.Han Jiang,Su Zhi-yuan.Research on the adaptive fuzzy position control system for the linear motordriven feed servo system[J].Journal of Hefei University of Technology(Natural Science),2008,31(1):136-139.
[5]杨燕波.基于DSP的无刷直流电机三闭环伺服系统的研究[D].上海:东华大学信息科学与技术学院,2009.Yang Yan-bo.Research of three-loop BLDCM servo system based on DSP[D].Shanghai:College of Information Science and Technology,Donghua University,2009.
[6]胡庆波,吕征宇.全数字伺服系统中位置前馈控制器的设计[J].电气传动,2005,35(5):24-27.Hu Qing-bo,Lyu Zheng-yu.Feed-forward position controller design of full-digitalized servo system[J].Electric Drive,2005,35(5):24-27.
[7]Li Y,Ang K H,Chong G C Y.PID control system analysis and design[J].IEEE Control Systems Magazine,2006,26(1):32-41.
[8]El-Sousy F F M.An intelligent model following sliding-mode position controller for PMSM servo drives[C]∥Icm2007 4th IEEE International Conference on Mechatronics,Changchun,China,2007:1-6.
[9]张腾飞.面向自动泊车应用的转向盘位置跟随控制研究[D].长春:吉林大学汽车工程学院,2014.Zhang Teng-fei.The research about steering wheel position following control based on automatic parking[D].Changchun:College of Automotive Engineering,Jilin University,2014.
[10]郑宏宇,王祥,宗长富,等.力控和位置反馈型线控转向系统双向控制策略[J].农业机械学报,2014,45(6):14-19.Zheng Hong-yu,Wang Xiang,Zong Chang-fu,et al.Force control and position feedback bidirectional type wire control steering system control strategy[J].Transactions of the Chinese Society for Agricultural Machinery,2014,45(6):14-19.
[11]Yih P,Gersdes J C.Modification of vehicle handling characteristics via steer-by-wire[J].IEEE Transactions on Control Systems Technology,2005,13(6):965-976.
[12]刘奇芳.非线性控制方法研究及其在汽车动力总成系统中的应用[D].长春:吉林大学通信工程学院,2014.Liu Qi-fang.Research on nonlinear control and its application in vehicle powertrain systems[D].Changchun:College of Communication Engineering,Jilin University,2014.
[13]Gao Bing-zhao,Chen Hong,Liu Qi-fang,et al.Position control of electric clutch actuator using a triple-step nonlinear method[J].IEEE Transactions on Industrial Electronics,2014,61(12):6995-7003.
[14]赵靖华,陈志刚,胡云峰,等.基于“三步法”的柴油机urea-SCR系统控制设计[J].吉林大学学报:工学版,2015,45(6):1913-1923.Zhao Jing-hua,Chen Zhi-gang,Hu Yun-feng,et al.Design of diesel engines urea-SCR system controller using triple-step method[J].Journal of Jilin University(Engineering and Technology Edition),2015,45(6):1913-1923.
[15]顾万里,张森,胡云峰,等.有刷直流电机非线性控制系统设计[J].吉林大学学报:工学版,2017,47(3):900-907.Gu Wan-li,Zhang Sen,Hu Yun-feng,et al.Nonlinear controller design of brushed DC motor[J].Journal of Jilin University(Engineering and Technology Edition),2017,47(3):900-907.
[16]胡云峰,顾万里,梁瑜,等.混合动力汽车启停非线性控制器设计[J].吉林大学学报:工学版,2017,47(4):1207-1216.Hu Yun-feng,Gu Wan-li,Liang Yu,et al.Startstop control of hybrid vehicle based on nonlinear method[J].Journal of Jilin University(Engineering and Technology Edition),2017,47(4):1207-1216.
[17]刘栋良.永磁同步电机伺服系统非线性控制策略的研究[D].杭州:浙江大学电气工程学院,2005.Liu Dong-liang.Research on PMSM servo system and nonlinear control strategy[D].Hangzhou:College of Electrical Engineering,Zhejiang University,2005.
[18]Jahns T M.Flux-weakening regime operation of an interior permanent-magnet synchronous motor drive[J].IEEE Transactions on Industry Applications,1987,23(4):681-689.