某轿车EPS系统电机控制策略的仿真研究
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摘要
为满足车辆在低速时转向轻便性和高速时良好路感而发展起来的电动助力转向技术,已经越来越广泛的应用在多种车辆上,并有逐渐取代液压动力转向系统的趋势。电动助力转向系统中,核心技术集中在硬件及软件两个方面:硬件主要是指电机及减速机构;软件是指电动助力转向电机的控制策略。
本文紧紧围绕电机控制策略的仿真研究展开。首先,利用Matlab/Simscape软件建立了能够与电机进行联合仿真的无电动助力转向的整车仿真模型;然后,根据原车液压助力转向系统的助力特性,设计并匹配直流电机参数,建立了电机的仿真模型;再次,根据理想方向盘力矩理论,通过助力特性模型和整车模型联合仿真,得到车速感应型直线助力曲线;最后,将电机模型与整车模型联合,加上电机的电流控制策略,进行了电机助力控制、回正过程中的阻尼控制和残差控制的仿真研究。
EPS系统电机的仿真控制,对于实车EPS系统电机的控制具有很好的指导意义。本文的创新之处在于:转向系统动力学建模;电机模型与转向系统模型联合仿真;电机的电流控制策略;电机助力特性、动态跟随特性、转向回正中的阻尼和残差控制的仿真研究。
EPS (Electric Power Steering System), which was developed in order to meet steering handiness at low speed and road feeling at high speed, completely abandoned the hydraulic mechanism, is a power steering system which adopts motor to provide assist torque, which is controlled by ECU (Electric Control Unit), according to the velocity of the vehicle and the torque of the steering wheel. Torque that is exported by motor is translated by steering system gearing and can be used to help driver steer. Because of their great predominance, it has been increasingly applied in a wide variety of vehicles, and gradually has a trend to replace the hydraulic power steering system. In the EPS system, the core technology is focus on hardware and software two aspects: hardware mainly refers to the motor and deceleration; software refers to motor’s control strategy.
The thesis focused on the model of EPS steering system and motor’s control strategy. The following is the mainly content of the thesis:
Chapter one introduces development process of power steering system, development actuality at home and abroad, structure and principle, the key components, advantages, key technology and the direction of development of EPS.
Chapter two is about to how to build the model of steering system of EPS and the whole vehicle. According to the actual electric power steering system structure, EPS model is built using reduced-order modeling methods; Secondly, the software Simscape is introduced, which is an expansion module of Simulink in MATLAB 2007a; moreover, the simulation model of EPS steering system is built using the Simscape software; Thirdly, vehicle system dynamics software—Carsim is introduced, and build the vehicle simulation model; Finally, the steering system simulation model and vehicle model get together and make up of the thesis simulation model. At last, using sinusoidal test, the normal steady rotation test and aligning test is to test the model.
Chapter three is about to the matching and model of assisted motor. Firstly, the thesis analyzes and discusses installation location of the motor and style; secondly, it brings some requires about the size of motor,the output torque and steering speed; Thirdly, according to the assist characteristic of the original hydraulic steering, motor’s torque and steering speed, the motor electrical parameters are designed. Following, introduc the software SimPowerSystems, and also use the software to build the equivalent simulation model of a brush DC motor, at last gain the mechanical properties of motor; finally, the motor simulation model is improved, and gains the final simulation model.
Chapter four is about to joint simulation of EPS assist system. According to the steering handiness and road feeling, ideal steering wheel torque that the driver needs is introduced. Secondly, there are three kinds curve forms of EPS system’s assist characteristic: straight-line, broken-line and curve. Moreover, in order to coordinate the relation between steering maneuverability and road feeling, the assist curve should vary with vehicle speed, namely the speed-varied straight-line assist characteristic. At last, according to the characteristic of speed-varied straight-line and in situ steering hydraulic assist curve, the EPS’s speed coefficient of speed-varied straight-line assist characteristic is gained using the joint simulation model of the vehicle model and assisted model. The thesis can obtain speed-varied straight-line assist characteristic quadratic fit of throught speed coefficient of speed-varied straight-line assist characteristic in order to implement assist control of the motor.
Chapter five is about to the simulation research of the motor’s control strategy. Firstly, the control methods of the EPS’s assist characteristic is analysed and introduced, which considers basic control and compensate control. Moreover, basic control is composed of assisted control, align control and damp control; compensate control is composed of friction compensation, inertia compensation and damp compensation. Secondly, the thesis adopts current control of the motor in order to implement the motor’s control target, namely D-value of goal current and current of a measurement proceeds PID control. At the same time, the drive of the motor is finished by voltage, so the control of motor must add a voltage’s feedforward control in order to drive motor. Thirdly, the motor’s sumulation model obtains using the joint of the vehicle model and motor model, and is validated by simulation. At last, the thesis does some simulation researches, including assist control, dynamic following characteristic align control and damp control in the steering system.
Chapter six is the conclusions and the further work. Firstly, sum up thesis work. Secondly, point out the shortage of the thesis and the future research direction.
本文紧紧围绕电机控制策略的仿真研究展开。首先,利用Matlab/Simscape软件建立了能够与电机进行联合仿真的无电动助力转向的整车仿真模型;然后,根据原车液压助力转向系统的助力特性,设计并匹配直流电机参数,建立了电机的仿真模型;再次,根据理想方向盘力矩理论,通过助力特性模型和整车模型联合仿真,得到车速感应型直线助力曲线;最后,将电机模型与整车模型联合,加上电机的电流控制策略,进行了电机助力控制、回正过程中的阻尼控制和残差控制的仿真研究。
EPS系统电机的仿真控制,对于实车EPS系统电机的控制具有很好的指导意义。本文的创新之处在于:转向系统动力学建模;电机模型与转向系统模型联合仿真;电机的电流控制策略;电机助力特性、动态跟随特性、转向回正中的阻尼和残差控制的仿真研究。
EPS (Electric Power Steering System), which was developed in order to meet steering handiness at low speed and road feeling at high speed, completely abandoned the hydraulic mechanism, is a power steering system which adopts motor to provide assist torque, which is controlled by ECU (Electric Control Unit), according to the velocity of the vehicle and the torque of the steering wheel. Torque that is exported by motor is translated by steering system gearing and can be used to help driver steer. Because of their great predominance, it has been increasingly applied in a wide variety of vehicles, and gradually has a trend to replace the hydraulic power steering system. In the EPS system, the core technology is focus on hardware and software two aspects: hardware mainly refers to the motor and deceleration; software refers to motor’s control strategy.
The thesis focused on the model of EPS steering system and motor’s control strategy. The following is the mainly content of the thesis:
Chapter one introduces development process of power steering system, development actuality at home and abroad, structure and principle, the key components, advantages, key technology and the direction of development of EPS.
Chapter two is about to how to build the model of steering system of EPS and the whole vehicle. According to the actual electric power steering system structure, EPS model is built using reduced-order modeling methods; Secondly, the software Simscape is introduced, which is an expansion module of Simulink in MATLAB 2007a; moreover, the simulation model of EPS steering system is built using the Simscape software; Thirdly, vehicle system dynamics software—Carsim is introduced, and build the vehicle simulation model; Finally, the steering system simulation model and vehicle model get together and make up of the thesis simulation model. At last, using sinusoidal test, the normal steady rotation test and aligning test is to test the model.
Chapter three is about to the matching and model of assisted motor. Firstly, the thesis analyzes and discusses installation location of the motor and style; secondly, it brings some requires about the size of motor,the output torque and steering speed; Thirdly, according to the assist characteristic of the original hydraulic steering, motor’s torque and steering speed, the motor electrical parameters are designed. Following, introduc the software SimPowerSystems, and also use the software to build the equivalent simulation model of a brush DC motor, at last gain the mechanical properties of motor; finally, the motor simulation model is improved, and gains the final simulation model.
Chapter four is about to joint simulation of EPS assist system. According to the steering handiness and road feeling, ideal steering wheel torque that the driver needs is introduced. Secondly, there are three kinds curve forms of EPS system’s assist characteristic: straight-line, broken-line and curve. Moreover, in order to coordinate the relation between steering maneuverability and road feeling, the assist curve should vary with vehicle speed, namely the speed-varied straight-line assist characteristic. At last, according to the characteristic of speed-varied straight-line and in situ steering hydraulic assist curve, the EPS’s speed coefficient of speed-varied straight-line assist characteristic is gained using the joint simulation model of the vehicle model and assisted model. The thesis can obtain speed-varied straight-line assist characteristic quadratic fit of throught speed coefficient of speed-varied straight-line assist characteristic in order to implement assist control of the motor.
Chapter five is about to the simulation research of the motor’s control strategy. Firstly, the control methods of the EPS’s assist characteristic is analysed and introduced, which considers basic control and compensate control. Moreover, basic control is composed of assisted control, align control and damp control; compensate control is composed of friction compensation, inertia compensation and damp compensation. Secondly, the thesis adopts current control of the motor in order to implement the motor’s control target, namely D-value of goal current and current of a measurement proceeds PID control. At the same time, the drive of the motor is finished by voltage, so the control of motor must add a voltage’s feedforward control in order to drive motor. Thirdly, the motor’s sumulation model obtains using the joint of the vehicle model and motor model, and is validated by simulation. At last, the thesis does some simulation researches, including assist control, dynamic following characteristic align control and damp control in the steering system.
Chapter six is the conclusions and the further work. Firstly, sum up thesis work. Secondly, point out the shortage of the thesis and the future research direction.
引文
[1] 廖抒华,动力转向系统特性及其对汽车操纵稳定性影响的试验与仿真研究,吉林大学硕士学位论文,2000
[2] 日本汽车技术会编,长春汽车研究所译,汽车技术手册·设计篇,1997,612 页
[3] 毕大宁,汽车转阀式动力转向器的设计与应用,北京:人民交通出版社,1998
[4] 施国标,电动助力转向助力特性仿真与控制策略研究,吉林大学博士学位论文,2002.12,4,9,13,107 页
[5] Keiji Suzuki,Yoshiharu Inaguma,and Kyosuke Haga,Integrated Electro-Hydraulic Power Steering System with Low Electric Energy Consumption,SAE Paper No.950580
[6] Yoshiharu Inaguma,Keiji Suzuki,and Kyosuke Haga,An Energy Saving Technique in an Electro-Hydraulic Power steering (EHPS) System,SAE Paper No.960934
[7] 《汽车工程手册》编辑委员会,汽车工程手册·基础篇,北京:人民交通出版社,2002,614 页
[8] Nakayama T,Suda E,The present and future of electric power steering,Int. J. of Vehicle Design,1994,15(3,4,5),243—254 页
[9] Akhan M B,Munro I,Byatt M J,Toquet G,Electric Power Assisted Steering,Colloquium Digest-IEE 0963-3308,1997
[10] 张昕,电动助力转向助力特性的仿真分析,吉林大学硕士学位论文, 2003.3,6—7,39—41 页
[11] 电动助力转向系统控制技术的研究,江苏大学学报(自然科学版),第 25 卷第 1 期
[12] 范心明,程小华,汽车 EPS 系统用电动机综述,防暴电机,2006 年第 6期,第 41 卷,总第 133 期
[13] 王望予,汽车设计,北京:机械工业出版社,2000
[14] 邓泽英,电子动力转向系统,汽车研究与开发,1995,3,43—46 页
[15] 毛爱瑛,黄兆麟,电助力转向的现状与未来,天津汽车,1998.3,11-14页
[16] 马扎根,浅谈转向技术的发展,汽车技术,1994.3,4—10 页
[17] 陈丙辰,田沛然,三菱微型汽车电动式动力转向装置(ECPS)的故障诊断,汽车技术,1997.4,45—48 页
[18] 吴浩,电动助力转向系统的建模及其助力特性的研究,吉林大学硕士学位论文,2003.2,15 页
[19] Manu Parmar , John Y.Hung , Modeling and Sensorless Optimal Controller Design for an Electric Power Assist System,IEEE,2002
[20] 吕济明,“汽车 TCS 系统建模及控制逻辑研究”,吉林大学硕士学位论文,2005
[21] 田洋,“汽车底盘操纵性虚拟试验评价与改进”,吉林大学硕士学位论文,2007
[22] Dominke Peter and Gerhard Ruck, Electric Power Steering - The First Step on the Way to "Steer by Wire", SAE Paper No.1999-01-0401,2
[23] 施国标,林逸,邹常丰,陈万忠,王望予,电动助力转向系统匹配设计的研究,公路交通科技,2003.10
[24] 任礼维,林瑞光,电机与振动基础,浙江大学出版社,1994
[25] 谷腰欣词(著),王益全(译),直流电动机实际应用技巧,科学出版社,2006
[26] 何仁,,苗立冬,罗石,商高高,电动助力转向系统电动机与减速机构的匹配研究,公路交通科技,2005
[27] Gary P. Bertollini and Robert M. Hogan, Applying Driving Simulation to Quantify Steering Effort Preference as Function of Vehicle Speed, SAE PaperNo.1999-01-0394
[28] 张越今,汽车多体动力学及计算机仿真,吉林科学技术出版社,1998.12
[29] R.S. Plantan, J.L. Rau and E.L. Owens, Optimization of Power Steering “Road Feel” for Highway Tractors, SAE Paper No.852360
[30] 陈丙辰,田沛然,三菱微型汽车电动式动力转向装置(ECPS)的故障诊断,汽车技术,1997.4,45—48 页
[31] J.J. Adams,Power Steering 'Road Feel',SAE Paper No.830998
[32] 吕威,轿车交流电机 EPS 控制研究与试验台测控系统开发,吉林大学硕士学位论文,2007
[33] 李涛涛,线控转向系统操纵性改善策略与转向盘回正力矩研究,吉林大学硕士学位论文,2007
[34] 胡波,EPS 车速感应型助力特性及直流电动机调速系统仿真研究,吉林大学硕士学位论文,2006
[35] Yasuo Shimizu,Toshitake Kawai. Development of Electric Power Steering. SAE Paper No.910014,13
[36] 汽车操纵稳定性指标限值与评价方法,中华人民共和国汽车行业标准,QC/T 480—1999
[37] Norman K., Objective Evaluation of On-Center Handling Performance, SAE PaperNo.840069
[38] Masahiko Kurishige, Takayuki Kifuku, Noriyuki Inoue and Shigeki Zeniya, A Control Strategy to Reduce Steering Torque for Stationary Vehicles Equipped with EPS, SAE Paper No.1999-01-0403
[39] 王晓明,电动机的单片机控制,北京航空航天大学出版社,2002
[40] 郭孔辉,汽车操纵动力学,吉林科学技术出版社,1991
[41] A.OSUKA,Y.MATSUOKA,T.TSUTSUI,Y.OBATA,A.DROULERS , Development of Pinion-Assist Type Electric Power Steering System ,KO Ψ O No.161E(2002)
[42] 汽车操纵稳定性试验方法—转向轻便性能试验,中华人民共和国国家标准,GB/T6323.5—1994
[43] 汽车操纵稳定性试验方法—转向回正性能试验,中华人民共和国国家标准,GB/T6323.4—1994
[44] Yuji Kozaki, Goro Hirose, Shozo Sekiya and Yasuhiko Miyaura SteeringTechnology Department, Automotive Technology Center, Electric Power Steering (EPS), Motion & Control No. 6 — 1999,NSK
[45] Shi Guobiao, Lin Yi and Zhang Xin,Beijing Institute of Technology Reprinted ,Chen Wanzhong and Zhu Hai,Jilin University, Simulation of Straight-Line Type Assist Characteristic of Electric Power-Assisted Steering, SAE TECHNICAL PAPER SERIES, 2004-01-1107
[46] 黄永安,马路,刘慧敏,MATLAB7.0/Simulink6.0 建模仿真开发与高级工程应用,清华大学出版社,北京,2005.12
[47] 罗建军,杨琦,MATLAB 教程,电子工业出版社,2005.7
[48] 余志生,汽车理论第 3 版,机械工业出版社,2000.10
[49] 张小红,汽车电动助力转向系统的研究与开发,大连理工硕士学位论文,2005.3
[50] 陈众,文艺,陈小林,基于 SimPowerSystems 的电力系统仿真与潮流分析,长沙电力学院学报(自然科学版),Vol.19 No.3 Aug.2004
[51] 岳伯陶,电动助力转向系统助力特性与控制算法研究,吉林大学硕士学位论文,2005
[52] 韦子枝,控制工程基础,吉林大学校内讲义
[53] 汽车操纵稳定性试验方法—稳态回转试验,中华人民共和国国家标准,GB/T6323.6—1994
[54] 汽车操纵稳定性试验方法—转向瞬态响应试验,中华人民共和国国家标准,GB/T6323.6—1994
[2] 日本汽车技术会编,长春汽车研究所译,汽车技术手册·设计篇,1997,612 页
[3] 毕大宁,汽车转阀式动力转向器的设计与应用,北京:人民交通出版社,1998
[4] 施国标,电动助力转向助力特性仿真与控制策略研究,吉林大学博士学位论文,2002.12,4,9,13,107 页
[5] Keiji Suzuki,Yoshiharu Inaguma,and Kyosuke Haga,Integrated Electro-Hydraulic Power Steering System with Low Electric Energy Consumption,SAE Paper No.950580
[6] Yoshiharu Inaguma,Keiji Suzuki,and Kyosuke Haga,An Energy Saving Technique in an Electro-Hydraulic Power steering (EHPS) System,SAE Paper No.960934
[7] 《汽车工程手册》编辑委员会,汽车工程手册·基础篇,北京:人民交通出版社,2002,614 页
[8] Nakayama T,Suda E,The present and future of electric power steering,Int. J. of Vehicle Design,1994,15(3,4,5),243—254 页
[9] Akhan M B,Munro I,Byatt M J,Toquet G,Electric Power Assisted Steering,Colloquium Digest-IEE 0963-3308,1997
[10] 张昕,电动助力转向助力特性的仿真分析,吉林大学硕士学位论文, 2003.3,6—7,39—41 页
[11] 电动助力转向系统控制技术的研究,江苏大学学报(自然科学版),第 25 卷第 1 期
[12] 范心明,程小华,汽车 EPS 系统用电动机综述,防暴电机,2006 年第 6期,第 41 卷,总第 133 期
[13] 王望予,汽车设计,北京:机械工业出版社,2000
[14] 邓泽英,电子动力转向系统,汽车研究与开发,1995,3,43—46 页
[15] 毛爱瑛,黄兆麟,电助力转向的现状与未来,天津汽车,1998.3,11-14页
[16] 马扎根,浅谈转向技术的发展,汽车技术,1994.3,4—10 页
[17] 陈丙辰,田沛然,三菱微型汽车电动式动力转向装置(ECPS)的故障诊断,汽车技术,1997.4,45—48 页
[18] 吴浩,电动助力转向系统的建模及其助力特性的研究,吉林大学硕士学位论文,2003.2,15 页
[19] Manu Parmar , John Y.Hung , Modeling and Sensorless Optimal Controller Design for an Electric Power Assist System,IEEE,2002
[20] 吕济明,“汽车 TCS 系统建模及控制逻辑研究”,吉林大学硕士学位论文,2005
[21] 田洋,“汽车底盘操纵性虚拟试验评价与改进”,吉林大学硕士学位论文,2007
[22] Dominke Peter and Gerhard Ruck, Electric Power Steering - The First Step on the Way to "Steer by Wire", SAE Paper No.1999-01-0401,2
[23] 施国标,林逸,邹常丰,陈万忠,王望予,电动助力转向系统匹配设计的研究,公路交通科技,2003.10
[24] 任礼维,林瑞光,电机与振动基础,浙江大学出版社,1994
[25] 谷腰欣词(著),王益全(译),直流电动机实际应用技巧,科学出版社,2006
[26] 何仁,,苗立冬,罗石,商高高,电动助力转向系统电动机与减速机构的匹配研究,公路交通科技,2005
[27] Gary P. Bertollini and Robert M. Hogan, Applying Driving Simulation to Quantify Steering Effort Preference as Function of Vehicle Speed, SAE PaperNo.1999-01-0394
[28] 张越今,汽车多体动力学及计算机仿真,吉林科学技术出版社,1998.12
[29] R.S. Plantan, J.L. Rau and E.L. Owens, Optimization of Power Steering “Road Feel” for Highway Tractors, SAE Paper No.852360
[30] 陈丙辰,田沛然,三菱微型汽车电动式动力转向装置(ECPS)的故障诊断,汽车技术,1997.4,45—48 页
[31] J.J. Adams,Power Steering 'Road Feel',SAE Paper No.830998
[32] 吕威,轿车交流电机 EPS 控制研究与试验台测控系统开发,吉林大学硕士学位论文,2007
[33] 李涛涛,线控转向系统操纵性改善策略与转向盘回正力矩研究,吉林大学硕士学位论文,2007
[34] 胡波,EPS 车速感应型助力特性及直流电动机调速系统仿真研究,吉林大学硕士学位论文,2006
[35] Yasuo Shimizu,Toshitake Kawai. Development of Electric Power Steering. SAE Paper No.910014,13
[36] 汽车操纵稳定性指标限值与评价方法,中华人民共和国汽车行业标准,QC/T 480—1999
[37] Norman K., Objective Evaluation of On-Center Handling Performance, SAE PaperNo.840069
[38] Masahiko Kurishige, Takayuki Kifuku, Noriyuki Inoue and Shigeki Zeniya, A Control Strategy to Reduce Steering Torque for Stationary Vehicles Equipped with EPS, SAE Paper No.1999-01-0403
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