基于GPS的汽车电动助力转向控制器的研究与设计
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摘要
车辆的转向系统是实现驾驶员的操作意图、控制车辆行驶状态和整车操纵稳定性的最重要系统。电动助力转向系统是目前研究及应用的热点,该系统具有部件少、结构简单、节能环保、便于安装维护等特点,是未来动力转向技术的发展方向,有望作为汽车的标准件,在动力转向系统中占据主导地位。
本文首先在总结国内外文献的基础上,阐述电动助力转向领域国内外研究现状和GPS在汽车操纵稳定性研究中的国内外研究现状,指出开展GPS在汽车前轮转向稳定性研究中的重要意义。
其次,在研究EPS系统结构和工作原理的基础上,应用运动学和动力学的理论知识建立电动助力转向系统动力学模型和二自由度车辆模型,提出了运用GPS实时差分定位技术的原理,结合INS传感器,测量汽车的横摆角速度、质心侧偏角和速度等汽车状态参数的方法,分析了测量系统的测量误差,应用Carsim和Simulink软件联合仿真,验证了二自由度车辆模型应用在车辆稳定性控制领域的可行性。
再次,分析了车辆失去稳定性的原因,在此基础上重点分析了横摆角速度和质心侧偏角对车辆稳定性的影响,提出了基于GPS的车辆稳定性控制策略。设计了基于GPS的EPS控制器,重点介绍了控制器的组成、主控制芯片、GPS接口电路设计以及转向电机的驱动电路设计。
最后,通过开环控制试验、转向不足控制试验、转向过度控制试验和质量分布不均控制试验验证了所设计的基于GPS的车辆稳定性控制策略的正确性和基于GPS的EPS控制器的实用性。
Vehicle's steering system is the most important system to achieve the intention of the driver's operation, control the vehicle statement and handing stability. Electronic Power Steering System is the focus of the recently research and Applications. It has the characteristic of few component, simple architecture, energy-saving environmental protection, easy fix and maintenance. It is the direction of the future power steering technique. It is hopeful to be the standard component. It is the maintenance of power steering.
First, introduced the development and application of GPS in the research of vehicle handling stability and EPS based on the published papers. It can be concluded that the application of GPS is an important method in vehicle front-steering handling and stability research.
Second, based on the research of the architectur and operational principle of EPS. Using the kinematics and dynamics to establish the EPS model and Bicycle model. Proposed the method of measure the slip angle and yaw rate using GPS real-time differential positioning technology and INS sersor, analysed the errors of the system. Using Carsim and Simulink software co-simulation, verify the bicycle vehicle model used in the field of vehicle stability control is feasible.
Third, analysed the reasons for the stability of the vehicle to lose. Focuse on the impact of vehicle stability by the yaw rate and slip angle. Proposed GPS-based vehicle stability control strategy. Designed the GPS-based EPS controller. Focuses on the composition of the controller, master controller, GPS interface circuit, and steering motor drive circuit.
Finally, verified the correctness of GPS-based vehicle stability control strategy and the utility of GPS-based controller by Open-loop Control Test, Understeer Control Test, Oversteer Control test, Uneven distribution of quality Control Test.
本文首先在总结国内外文献的基础上,阐述电动助力转向领域国内外研究现状和GPS在汽车操纵稳定性研究中的国内外研究现状,指出开展GPS在汽车前轮转向稳定性研究中的重要意义。
其次,在研究EPS系统结构和工作原理的基础上,应用运动学和动力学的理论知识建立电动助力转向系统动力学模型和二自由度车辆模型,提出了运用GPS实时差分定位技术的原理,结合INS传感器,测量汽车的横摆角速度、质心侧偏角和速度等汽车状态参数的方法,分析了测量系统的测量误差,应用Carsim和Simulink软件联合仿真,验证了二自由度车辆模型应用在车辆稳定性控制领域的可行性。
再次,分析了车辆失去稳定性的原因,在此基础上重点分析了横摆角速度和质心侧偏角对车辆稳定性的影响,提出了基于GPS的车辆稳定性控制策略。设计了基于GPS的EPS控制器,重点介绍了控制器的组成、主控制芯片、GPS接口电路设计以及转向电机的驱动电路设计。
最后,通过开环控制试验、转向不足控制试验、转向过度控制试验和质量分布不均控制试验验证了所设计的基于GPS的车辆稳定性控制策略的正确性和基于GPS的EPS控制器的实用性。
Vehicle's steering system is the most important system to achieve the intention of the driver's operation, control the vehicle statement and handing stability. Electronic Power Steering System is the focus of the recently research and Applications. It has the characteristic of few component, simple architecture, energy-saving environmental protection, easy fix and maintenance. It is the direction of the future power steering technique. It is hopeful to be the standard component. It is the maintenance of power steering.
First, introduced the development and application of GPS in the research of vehicle handling stability and EPS based on the published papers. It can be concluded that the application of GPS is an important method in vehicle front-steering handling and stability research.
Second, based on the research of the architectur and operational principle of EPS. Using the kinematics and dynamics to establish the EPS model and Bicycle model. Proposed the method of measure the slip angle and yaw rate using GPS real-time differential positioning technology and INS sersor, analysed the errors of the system. Using Carsim and Simulink software co-simulation, verify the bicycle vehicle model used in the field of vehicle stability control is feasible.
Third, analysed the reasons for the stability of the vehicle to lose. Focuse on the impact of vehicle stability by the yaw rate and slip angle. Proposed GPS-based vehicle stability control strategy. Designed the GPS-based EPS controller. Focuses on the composition of the controller, master controller, GPS interface circuit, and steering motor drive circuit.
Finally, verified the correctness of GPS-based vehicle stability control strategy and the utility of GPS-based controller by Open-loop Control Test, Understeer Control Test, Oversteer Control test, Uneven distribution of quality Control Test.
引文
[1] Anthony J.Champagne. Correlation of Electric Power Steering Vibration to Subjective Ratings. SAE paper. 2000,(01):176 P
[2] Millsap S A,Law E H. Handling enhancement duo to an automotive variable ratio electric power steering system using model reference robust tracking control. SAE paper. 1996,(1):93-96 P
[3] Toshinori Tanaka,Skihiro Daikoku, Akihiko Image,Yoshio Yoshikuwa.A n Adanced Electrical Power Steering Motor. SAE Technical Paper Series. 2000,(01): 0824P
[4] T.N akayama,E Suda. The present and future of electric power steering. Journal.of Vehicle Design.1994,(15):3-5P
[5] J.S.Chen. Control of Electric Power Steering. SAE paper. 1998,(11):P98-105
[6] Masahiko Kurishige, Takayuki Kifuku, Noriyuki Inoue etl. A Control Strategy to Reduce Steering Torque for Stationary Vehicles Equipped with EPS. SAE Paper. 1999,(01): 3-4P
[7] Nobuo Sugitani,Yukihiro Fujuwara, Kenko Uchida etl. Electric Power Steering with Infinity Control Designed to Obtained Road Information. Proceeding of the American Control Conference Albuquerque. 1997,(07):15-16P
[8] A.T .Zarember,M. K.Liubakka. Control and Steering Feel Issues in the Design of an Electric Power Steering System. Proceedings of American Control Conference. 1998,(05):27-28P
[9] Mr X Ouyang,Dr C Morgan,Dr CN wagboso. Neural network Model-Reference of power Steering Systems. SAE Paper. 2007,(03):56-58P
[10] Toshio Kohno, Shinji Takeuchi, Minekazu Moniyama, Hiroaki Nimura. Development of Electric Power Steering System with H-Control. SAE Paper.2000,(01):31-35P
[11] Gene Y.Liao. Co-Simulation Of Power Steering Control and Vehicle Dynamic Response. Proceedings of 2001 ASME International Mechanical Engineering Congress and Exposition. 2001, Vol.1 (11),7-9P
[12] Ji-Hoo Kim, Jae-Kok Song. Control Logic for an Electric Power Steering System Using Assis t Motor. Mechatronics,2002,(12):P447-459
[13]郭峰,方凯,杨生等.一种电瓶车辆的智能电子转向系统的设计实现.计算机工程与科学.2000,(7):155-157页
[14]郭建新,伍少初.电动助力转向系统的研究与开发.机械设计与制造工程.1999,(9):18-21页
[15]黄李琴.电动助力转向控制系统关键技术的研究与开发.清华大学硕十学位论文.2002
[16]刘峰,丁能根,余贵珍,葛尧.EPS实车试验辅助测试系统的设计.车辆与动力技术.2008,(2):31-34页
[17]林逸,施国标,邹常丰等.电动助力转向助力控制策略的研究.汽车技术.2003,(3):8-11页
[18]施国标,林逸,邹常丰等.电动助力转向系统匹配设计的研究.公路交通科技.2003,(5):125-128页
[19]熊建桥,唐小琦,陈吉红.基于模糊控制策略的EPS设计与实现.计算机工程与应用.2007,(34):101-104页
[20]赵万忠,施国标,林逸,石培吉,李强.基于遗传算法的EPS系统参数优化.吉林大学学报(工学版).2009,(3):286-290页
[21]胡建军,李彤,秦大同.基于整车动力学的电动助力转向系统建模仿真.系统仿真学报.2008,(6):1577-1581页
[22]王廷宏,陆文昌.汽车电动助力转向系统控制器设计.计算机测量与控制.2008,(3):330-335页
[23]韩立膑.电动助力转向控制器设计.上海交通大学硕士学位论文.2005:73-74页
[24]马星辰.基于整车多体动力学模型的电动助力转向虚拟试验研究.南京理工大学硕士学位论文.2008:73页
[25]张卫东,余光大,晏蔚光等.一种智能电动助力转向系统.北京科技大学学报.2003,(1):66-68页
[26]施淑红,郑荣良.电动助力转向系统及模型分析.江苏大学学报.2002(5):57-60页
[27]王豪,许镇林,尚品等.电动转向系统特性分析.汽车科技.2003,(3):16-18页
[28]姜友清.汽车电动式电子控制动力转向器研制初探.汽车转向行业信息,2003,(10):43-46页
[29]张钟光.汽车EPS动力学模型分析及控制系统设计.青岛大学学报.2003,(3):72-76页
[30]张春花,边耀璋.电动转向及电子控制.汽车技术.2003,(3):72-76页
[31] David M. Bevly, Robert Daily, William Travis. Estimation of Critical Tire Parameters Using GPS Based Sideslip Measurements. SAE International. 2005: 06ADSC-026
[32] Abbot E., Powell, D. Land-Vehicle Navigation Using GPS. Proceedings of the IEEE. 1999.(87), No.1, 145-162P
[33] Ryu J. Local Controller Network for Autonomous Vehicle Steering. 13th Triennial World Congress, San Francisco AC. 1996, 405-410P
[34] Rock, Kirstin L, Eiker, Sven A, Laws, Shad; Gerdes, J. Christian. Validating GPS based measurements for vehicle control. American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication). Proceedings of the ASME Dynamic Systems and Control Division 2005. 2005:583-592P
[35]李永生.基于GPS及IMU的汽车道路试验系统的研究.西华大学硕士学位论文.2009:71-73页
[36] Liu Guangfu,Zhang Weigong,Li Xu,Guo Liang.Data Synchronization in IMU/GPS Integrated Measurement System of Vehicle Motion Parameters. Journal of Southeast University(English Edition). 2006,(02):63-66P
[37]王乐.基于GPS的汽车操纵稳定性研究.南京航空航天大学硕士学位论文.2007:60-64页
[38] J. Ryu, J. C. Gerdes. Integrating inertial sensors with global positioning system (GPS) for vehicle dynamics control. ASME Journal of Dynamic Systems Measurement and Control. 2004, 243–254P
[39] J. Kasselmann. T. Keranen. Adaptive steering. Bendix Technical Journal. 1969:26-35P
[40] J. Ackermann. Yaw disturbance attenuation by robust decoupling of car steering. Proceedings of the IFAC World Congress, San Francisco, CA, 1996,1-6P
[41] M. Segawa, K. Nishizaki, S. Nakano. A study of vehicle stability control by steer by wire system. Proceedings of the International Symposium on Advanced Vehicle Control (AVEC), Ann Arbor, 2000:7-12P
[42]宋海峰,张国印. TD340芯片在汽车电动助力转向系统中的应用.电子技术应用. 2009,35(4):35-38页
[2] Millsap S A,Law E H. Handling enhancement duo to an automotive variable ratio electric power steering system using model reference robust tracking control. SAE paper. 1996,(1):93-96 P
[3] Toshinori Tanaka,Skihiro Daikoku, Akihiko Image,Yoshio Yoshikuwa.A n Adanced Electrical Power Steering Motor. SAE Technical Paper Series. 2000,(01): 0824P
[4] T.N akayama,E Suda. The present and future of electric power steering. Journal.of Vehicle Design.1994,(15):3-5P
[5] J.S.Chen. Control of Electric Power Steering. SAE paper. 1998,(11):P98-105
[6] Masahiko Kurishige, Takayuki Kifuku, Noriyuki Inoue etl. A Control Strategy to Reduce Steering Torque for Stationary Vehicles Equipped with EPS. SAE Paper. 1999,(01): 3-4P
[7] Nobuo Sugitani,Yukihiro Fujuwara, Kenko Uchida etl. Electric Power Steering with Infinity Control Designed to Obtained Road Information. Proceeding of the American Control Conference Albuquerque. 1997,(07):15-16P
[8] A.T .Zarember,M. K.Liubakka. Control and Steering Feel Issues in the Design of an Electric Power Steering System. Proceedings of American Control Conference. 1998,(05):27-28P
[9] Mr X Ouyang,Dr C Morgan,Dr CN wagboso. Neural network Model-Reference of power Steering Systems. SAE Paper. 2007,(03):56-58P
[10] Toshio Kohno, Shinji Takeuchi, Minekazu Moniyama, Hiroaki Nimura. Development of Electric Power Steering System with H-Control. SAE Paper.2000,(01):31-35P
[11] Gene Y.Liao. Co-Simulation Of Power Steering Control and Vehicle Dynamic Response. Proceedings of 2001 ASME International Mechanical Engineering Congress and Exposition. 2001, Vol.1 (11),7-9P
[12] Ji-Hoo Kim, Jae-Kok Song. Control Logic for an Electric Power Steering System Using Assis t Motor. Mechatronics,2002,(12):P447-459
[13]郭峰,方凯,杨生等.一种电瓶车辆的智能电子转向系统的设计实现.计算机工程与科学.2000,(7):155-157页
[14]郭建新,伍少初.电动助力转向系统的研究与开发.机械设计与制造工程.1999,(9):18-21页
[15]黄李琴.电动助力转向控制系统关键技术的研究与开发.清华大学硕十学位论文.2002
[16]刘峰,丁能根,余贵珍,葛尧.EPS实车试验辅助测试系统的设计.车辆与动力技术.2008,(2):31-34页
[17]林逸,施国标,邹常丰等.电动助力转向助力控制策略的研究.汽车技术.2003,(3):8-11页
[18]施国标,林逸,邹常丰等.电动助力转向系统匹配设计的研究.公路交通科技.2003,(5):125-128页
[19]熊建桥,唐小琦,陈吉红.基于模糊控制策略的EPS设计与实现.计算机工程与应用.2007,(34):101-104页
[20]赵万忠,施国标,林逸,石培吉,李强.基于遗传算法的EPS系统参数优化.吉林大学学报(工学版).2009,(3):286-290页
[21]胡建军,李彤,秦大同.基于整车动力学的电动助力转向系统建模仿真.系统仿真学报.2008,(6):1577-1581页
[22]王廷宏,陆文昌.汽车电动助力转向系统控制器设计.计算机测量与控制.2008,(3):330-335页
[23]韩立膑.电动助力转向控制器设计.上海交通大学硕士学位论文.2005:73-74页
[24]马星辰.基于整车多体动力学模型的电动助力转向虚拟试验研究.南京理工大学硕士学位论文.2008:73页
[25]张卫东,余光大,晏蔚光等.一种智能电动助力转向系统.北京科技大学学报.2003,(1):66-68页
[26]施淑红,郑荣良.电动助力转向系统及模型分析.江苏大学学报.2002(5):57-60页
[27]王豪,许镇林,尚品等.电动转向系统特性分析.汽车科技.2003,(3):16-18页
[28]姜友清.汽车电动式电子控制动力转向器研制初探.汽车转向行业信息,2003,(10):43-46页
[29]张钟光.汽车EPS动力学模型分析及控制系统设计.青岛大学学报.2003,(3):72-76页
[30]张春花,边耀璋.电动转向及电子控制.汽车技术.2003,(3):72-76页
[31] David M. Bevly, Robert Daily, William Travis. Estimation of Critical Tire Parameters Using GPS Based Sideslip Measurements. SAE International. 2005: 06ADSC-026
[32] Abbot E., Powell, D. Land-Vehicle Navigation Using GPS. Proceedings of the IEEE. 1999.(87), No.1, 145-162P
[33] Ryu J. Local Controller Network for Autonomous Vehicle Steering. 13th Triennial World Congress, San Francisco AC. 1996, 405-410P
[34] Rock, Kirstin L, Eiker, Sven A, Laws, Shad; Gerdes, J. Christian. Validating GPS based measurements for vehicle control. American Society of Mechanical Engineers, Dynamic Systems and Control Division (Publication). Proceedings of the ASME Dynamic Systems and Control Division 2005. 2005:583-592P
[35]李永生.基于GPS及IMU的汽车道路试验系统的研究.西华大学硕士学位论文.2009:71-73页
[36] Liu Guangfu,Zhang Weigong,Li Xu,Guo Liang.Data Synchronization in IMU/GPS Integrated Measurement System of Vehicle Motion Parameters. Journal of Southeast University(English Edition). 2006,(02):63-66P
[37]王乐.基于GPS的汽车操纵稳定性研究.南京航空航天大学硕士学位论文.2007:60-64页
[38] J. Ryu, J. C. Gerdes. Integrating inertial sensors with global positioning system (GPS) for vehicle dynamics control. ASME Journal of Dynamic Systems Measurement and Control. 2004, 243–254P
[39] J. Kasselmann. T. Keranen. Adaptive steering. Bendix Technical Journal. 1969:26-35P
[40] J. Ackermann. Yaw disturbance attenuation by robust decoupling of car steering. Proceedings of the IFAC World Congress, San Francisco, CA, 1996,1-6P
[41] M. Segawa, K. Nishizaki, S. Nakano. A study of vehicle stability control by steer by wire system. Proceedings of the International Symposium on Advanced Vehicle Control (AVEC), Ann Arbor, 2000:7-12P
[42]宋海峰,张国印. TD340芯片在汽车电动助力转向系统中的应用.电子技术应用. 2009,35(4):35-38页