EPS系统控制性能建模与仿真研究
|
摘要
汽车转向系统经历了从纯机械转向系统、液压助力转向系统、电液助力转向系统,直到操纵性能更为良好的电动助力转向系统(Electric Power SteeringSystem,简称EPS)等几个发展阶段。EPS系统采用电机直接助力,助力大小由电控单元控制,相比传统液压助力系统,具有安全性能高、调节方便、环保节能等优点,紧扣现代汽车发展主题,是汽车转向系统发展的趋势,将逐步取代传统液压助力转向系统。
本文首先在分析EPS系统基本原理的基础上,简化了EPS系统动力学模型,并对其进行状态空间描述,根据所建动力学模型分析了系统的稳态性能和助力特性的跟随性能,针对本文对EPS系统的关键部件如传感器和电动机等作了初步选型。
控制策略是否得当将直接影响到EPS系统的性能,本文在总结系统控制目标的基础上,分析了助力控制、回正控制和阻尼控制三种基本控制方式,并确定了各种控制模式的实施时机。助力控制是EPS系统最基本的控制方式,本文用模糊神经网络控制对助力特性曲线进行了优化,建立新的助力插值表,并对回正控制和阻尼控制的算法进行了分析。
为了验证理论分析的内容,在MATLAB/SIMULINK环境下,建立了EPS系统仿真模型,分块对助力控制、回正控制和阻尼控制的施加时机与控制效果进行了仿真,并总结了仿真结果,其中主要对助力特性曲线、加速回正和增加阻尼等效果进行了验证。助力电机是各种控制最后的实施环节,对其抗干扰能力要求较高,本文采用H_∞控制方案消减电机模型不确定因素的影响,实现目标电流的跟踪性能。在MATLAB/SIMULINK环境下建立了基于H_∞控制的电机模型并对所建模型在抑制干扰方面进行了仿真分析。
最后,进行台架试验的方案设计。探讨了EPS试验台架的功能和要求,对台架机械部分与控制系统软硬件部分进行了选型,并最终确定了试验方案。利用搭建的台架初步对以上理论分析进行了验证,为进一步开展EPS系统实验研究奠定了基础。
The development of the steering system has experienced several phases from the simple Mechanical Steering System, Hydraulic Power Steering System, Electric-Hydraulic Steering System, till the Electric Power Steering System (EPS) which has even lower energy consumption and higher performance. The EPS uses electric motor to assist power, is applied more and more widely in automobile industry, which is led by its advantages over the traditional hydraulic power steering system in safety, environmental protection, engine efficiency, and easiness on the adjustment. It is a hot topic and has the trend to replace the Hydraulic Power Steering.
At first, based on the analysis the configuration types, work principle and the main parts characteristic of the EPS, the paper has predigested the EPS dynamic model, established state space description. Combined with the dynamic model of the system, it has analyzed the system steady state performance and the assist power characteristic. Based on the paper the key parts such as sensors and electric motor has been selected.
Control strategy would touch the EPS's performance, the paper analyzed the assist power control strategy, the return ability control strategy and damp control strategy based on summarizing the control aim, and it confirmed implement occasion about the control mode. It also introduced the basic control performance of EPS such as the turning handiness performance, the steering stability, the economy of fuel, the return back capability and the security of the system etc. The paper has discussed the question for confirming and following aim current of the assist engine. For getting the accurate assist characteristic graph, it used FNN controller to confirm the aim current; For restraining the interferer, it built H_∞controller separately to contrast the effect of the following current.
In the environment of MATLAB/SIMULINK, it has built system model used the simulink tools in order to test the contents of the analysis, and separately emulated and analyzed the run occasion and control power magnitude of the assist power control strategy, the return ability control strategy and damp control strategy, especially for the assist power characteristic curve, accelerate return ability performance and damp control effect. And to validate the performance of following aim current, it used H_∞controller to control the electric motor model.
At last, a design model of EPS test-bed was built, which provided academic basis for further research on EPS experiment. It has discussed the function and request of EPS test-bed, selected mechanism parts and controller hardware. Then it has confirmed the experimentation project using the test-bed, which provided academic basis for further research.
本文首先在分析EPS系统基本原理的基础上,简化了EPS系统动力学模型,并对其进行状态空间描述,根据所建动力学模型分析了系统的稳态性能和助力特性的跟随性能,针对本文对EPS系统的关键部件如传感器和电动机等作了初步选型。
控制策略是否得当将直接影响到EPS系统的性能,本文在总结系统控制目标的基础上,分析了助力控制、回正控制和阻尼控制三种基本控制方式,并确定了各种控制模式的实施时机。助力控制是EPS系统最基本的控制方式,本文用模糊神经网络控制对助力特性曲线进行了优化,建立新的助力插值表,并对回正控制和阻尼控制的算法进行了分析。
为了验证理论分析的内容,在MATLAB/SIMULINK环境下,建立了EPS系统仿真模型,分块对助力控制、回正控制和阻尼控制的施加时机与控制效果进行了仿真,并总结了仿真结果,其中主要对助力特性曲线、加速回正和增加阻尼等效果进行了验证。助力电机是各种控制最后的实施环节,对其抗干扰能力要求较高,本文采用H_∞控制方案消减电机模型不确定因素的影响,实现目标电流的跟踪性能。在MATLAB/SIMULINK环境下建立了基于H_∞控制的电机模型并对所建模型在抑制干扰方面进行了仿真分析。
最后,进行台架试验的方案设计。探讨了EPS试验台架的功能和要求,对台架机械部分与控制系统软硬件部分进行了选型,并最终确定了试验方案。利用搭建的台架初步对以上理论分析进行了验证,为进一步开展EPS系统实验研究奠定了基础。
The development of the steering system has experienced several phases from the simple Mechanical Steering System, Hydraulic Power Steering System, Electric-Hydraulic Steering System, till the Electric Power Steering System (EPS) which has even lower energy consumption and higher performance. The EPS uses electric motor to assist power, is applied more and more widely in automobile industry, which is led by its advantages over the traditional hydraulic power steering system in safety, environmental protection, engine efficiency, and easiness on the adjustment. It is a hot topic and has the trend to replace the Hydraulic Power Steering.
At first, based on the analysis the configuration types, work principle and the main parts characteristic of the EPS, the paper has predigested the EPS dynamic model, established state space description. Combined with the dynamic model of the system, it has analyzed the system steady state performance and the assist power characteristic. Based on the paper the key parts such as sensors and electric motor has been selected.
Control strategy would touch the EPS's performance, the paper analyzed the assist power control strategy, the return ability control strategy and damp control strategy based on summarizing the control aim, and it confirmed implement occasion about the control mode. It also introduced the basic control performance of EPS such as the turning handiness performance, the steering stability, the economy of fuel, the return back capability and the security of the system etc. The paper has discussed the question for confirming and following aim current of the assist engine. For getting the accurate assist characteristic graph, it used FNN controller to confirm the aim current; For restraining the interferer, it built H_∞controller separately to contrast the effect of the following current.
In the environment of MATLAB/SIMULINK, it has built system model used the simulink tools in order to test the contents of the analysis, and separately emulated and analyzed the run occasion and control power magnitude of the assist power control strategy, the return ability control strategy and damp control strategy, especially for the assist power characteristic curve, accelerate return ability performance and damp control effect. And to validate the performance of following aim current, it used H_∞controller to control the electric motor model.
At last, a design model of EPS test-bed was built, which provided academic basis for further research on EPS experiment. It has discussed the function and request of EPS test-bed, selected mechanism parts and controller hardware. Then it has confirmed the experimentation project using the test-bed, which provided academic basis for further research.
引文
1 苗立东,何仁,徐建平,徐勇刚.汽车电动转向技术发展综述[J].长安大学学报(自然科学版),2004.01
2 林逸,施国标.汽车电动助力转向技术的发展现状与趋势[J].公路交通科技,2001.3
3 王绍銧,夏群生,李建秋.汽车电子学[M].北京:清华大学出版社,2003.06
4 王金归.电动助力转向控制系统研究[D].重庆大学:机械电子工程,2006.05
5 郭建新,伍少初.电动助力转向系统的研究与开发[J].机械设计与制造工程,1999.09
6 于建成.汽车电动助力转向系统的研究与开发[D].大连理工大学:车辆工程,2005.03.01
7 Application-Steering.Modeling & Simulation Platform for Systems Engineering[OL]:www.amesim.com
8 张云安.汽车电动助力转向系统控制技术的研究[D].西北工业大学:电力电子与电力传动,2005.03.01
9 李伟,刘晓.汽车电动助力转向系统特性研究[J].客车技术与研究,2005.04
10 姚胜华.电动助力转向系统的研制[M].浙江:浙江大学出版社,2004.06
11 张昌华.电动助力转向系统的研究与设计[D].武汉理工大学:车辆工程,2004.05.01
12 刘照.汽车电动助力转向系统动力学分析与控制方法研究[D].华中科技大学:机械设计及理论,2004.08.16
13 Ali Yurdun Orbak Kanmal Youncef-Toumi and Masaaki Senga.Model Reduction and Design of a Power Steering System[J].Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge,MA02139
14 王豪,许镇琳,尚喆,张海华.电动转向系统特性分析[J].汽车科技,2003.03
15 王豪,许镇琳,张海华.电动转向系统助力特性研究[J].公路交通科技,2003.06
16 任延.汽车电动助力转向系统动态特性分析及控制策略的研究[D].武汉:华中科技大学,2004.05.08
17 何仁,徐建平.电动助力转向系统稳定性分析[J].江苏大学学报(自然科学版),2004.02
18 林逸,施国标,邹常丰,王望予.电动助力转向系统转向性能的客观评价[J].农业机械学报,2003.04
19 J.J.Adams.Power Steering 'Road Feel'[J].SAE Paper,No.830998
20 施国标,林逸,张昕,朱海,王望予.电动助力转向助力特性的若干问题[R].中国汽车工程学会2003学术年会,SAE-C2003E217
21 李驰.汽车电动助力转向系统的半实物仿真与研究[D].大连理工大学:车辆工程, 2005.03.24
22 姬广斌,唐岚.电动助力转向系统的开发与研究[J].西安大学学报(自然科学版),2004.01
23 孙礼朋,王田苗,魏洪兴.基于DSP网络化无刷直流电机控制系统[J].中国机器人网:电子技术应用,2003.07.20
24 施国标.电动助力转向助力特性仿真与控制策略研究[D].吉林大学:车辆工程,2002.12.01
25 李志杰,许镇琳,王豪.CAN总线在EPS系统中的应用研究[J].制造业自动化,2004.07
26 Masahiko Kurishige and Takayuki Kifuku.Static Steering-Control System for Eletric-Power Steeting[R].Technical Reports 2001.06
27 M.b.Akhan M.J.Byatt G.Toqust I.Munro.Electric Power Assisted Steering(EPAS)[J].University of Hertfordshire,EEED,Hatfield UK.
28 Manu Parmar John Y.Hung.A Sensorless Optional Control System for an Automotive Electric Power Assit Steering System[J].IEEE Transactions on Industrial Eletronics,VOL.51,NO.2,April 2004
29 A.W.Burton.Control Objectives and Systems Analysis:Innovation Drivers for Electric Power Assisted Steering[R].The American Control Conference Anchorage,AK May 8-10,2002.
30 A.S.Richardson J.T.Economou P.C.K.Luk.Multi-Input All-Electric Vehicle Design Using a Forward Simulation Software Approach.Department of Aerospace[J].Power and Sensor,CRANFIELD University-RMCS,Shrivenham,Swindon Wiltshire,SN68LA,UK.
31 Yukihiro Fujiwara and Shuichi Adachi.Steering Assistance System for Driver Charateristics using Gain Scheduling Control.Honda R&D Co.Ltd[J].Tochigi Center/Utsunomiya University 4630 Shimotakanezawa,Haga-machi,Haga-gun,Tochigi,321-3393,Japan.
32 冯引安.汽车电动助力转向系统建模及控制算法研究[D].重庆大学:控制理论与控制工程,2007.04.20
33 郭孔辉.汽车操纵动力学[M].长春:吉林科学技术出版社,1991
34 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[J].汽车技术,2005.05
35 孟涛,陈慧,余卓平,李莉.电动助力转向系统的回正与主动阻尼控制策略研究[J].汽车工程,2006.12
36 罗石,商高高,苏清祖.线控转向系统转向盘力回馈控制模型研究[J].汽车工程,2006.10
37 王其东,杨孝剑,陈无畏,姜武华.电动助力转向系统的台架试验研究[J].汽车工程,2004.05
38 葛安林,李君.ATM车辆巡航模糊神经网络控制[J].汽车工程,1999.05
39 王耀南.神经网络自适应模糊控制在温度控制系统中的应用[J].信息与控制,1996.04
40 杨孝剑.汽车电动助力转向系统的动力学分析与控制研究[D].合肥工业大学:车辆工程.2003.04.01
41 Guang Liu Alex Kurnia Ronan De Larminat and Sanford Jay Rotter.Position Sensor Error Analysis for EPS Motor Drive[J].Motorola Inc.4000 Commercial Avenue Northbrook,IL.60062.
42 Ji-Hoon Kim Jae-Bok Song.Control Logic for an Electric Power Steering System Using Assist Motor[D].Department of Mechanical Engineering,Korea University,5 Anam-dong,Sungbuk-gu,Seoul 136-701,South Korea.
43 Amuliu Bogdan Proca and Ali Keyhani.Identification of Power Steering System Dynamic Models[D].The Ohio State University,Electrical Engineering Department,205 Dreese Laboratory,2015 Neil Avenue,Columbus,OH 4320,USA.
44 R.J.Hazelden.Application of an Optical Torque Sensor to a Vehicle Power Steering System[J].Lucas Advanced Engineering Centre,Dog Kennel Lane,Shirley,Solihull,West Midlands,B90 4JJ,UK.
45 罗石,商高高.电控助力转向系统电机驱动电路设计方案的研究[J].江苏大学学报(自然科学版),2004.06
46 李卓,萧德云,何世忠.基于神经网络的模糊自适应PID控制方法[J].信息与决策,1996.03
47 李书龙,许超.电动助力转向系统中的模糊控制[J].公路交通科技,2004.04
48 吴文江,杜彦良,季学武,陈奎元.汽车电动转向控制系统抗干扰策略的仿真[J].汽车工程,200308
49 姜长生,吴庆宪,陈文华,王从庆.现代鲁棒控制基础[M].哈尔滨:哈尔滨工业大学出版社,2005.9
50 荆体魁.汽车电动助力转向控制系统的设计[D].大连理工大学:车辆工程,2005.03.01
51 张昕.电动助力转向特性的仿真分析[D].吉林大学:车辆工程,2003.03.01
52 王望予,张昕,陈万忠,邹常丰,施国标,林逸.电动助力转向助力控制策略的研究[J].汽车技术,2003.03
53 Jim Ledin著.骆丽译.嵌入式控制系统及其C/C++实现[M].北京:北京航空航天大学出版社,2006.2
2 林逸,施国标.汽车电动助力转向技术的发展现状与趋势[J].公路交通科技,2001.3
3 王绍銧,夏群生,李建秋.汽车电子学[M].北京:清华大学出版社,2003.06
4 王金归.电动助力转向控制系统研究[D].重庆大学:机械电子工程,2006.05
5 郭建新,伍少初.电动助力转向系统的研究与开发[J].机械设计与制造工程,1999.09
6 于建成.汽车电动助力转向系统的研究与开发[D].大连理工大学:车辆工程,2005.03.01
7 Application-Steering.Modeling & Simulation Platform for Systems Engineering[OL]:www.amesim.com
8 张云安.汽车电动助力转向系统控制技术的研究[D].西北工业大学:电力电子与电力传动,2005.03.01
9 李伟,刘晓.汽车电动助力转向系统特性研究[J].客车技术与研究,2005.04
10 姚胜华.电动助力转向系统的研制[M].浙江:浙江大学出版社,2004.06
11 张昌华.电动助力转向系统的研究与设计[D].武汉理工大学:车辆工程,2004.05.01
12 刘照.汽车电动助力转向系统动力学分析与控制方法研究[D].华中科技大学:机械设计及理论,2004.08.16
13 Ali Yurdun Orbak Kanmal Youncef-Toumi and Masaaki Senga.Model Reduction and Design of a Power Steering System[J].Department of Mechanical Engineering Massachusetts Institute of Technology Cambridge,MA02139
14 王豪,许镇琳,尚喆,张海华.电动转向系统特性分析[J].汽车科技,2003.03
15 王豪,许镇琳,张海华.电动转向系统助力特性研究[J].公路交通科技,2003.06
16 任延.汽车电动助力转向系统动态特性分析及控制策略的研究[D].武汉:华中科技大学,2004.05.08
17 何仁,徐建平.电动助力转向系统稳定性分析[J].江苏大学学报(自然科学版),2004.02
18 林逸,施国标,邹常丰,王望予.电动助力转向系统转向性能的客观评价[J].农业机械学报,2003.04
19 J.J.Adams.Power Steering 'Road Feel'[J].SAE Paper,No.830998
20 施国标,林逸,张昕,朱海,王望予.电动助力转向助力特性的若干问题[R].中国汽车工程学会2003学术年会,SAE-C2003E217
21 李驰.汽车电动助力转向系统的半实物仿真与研究[D].大连理工大学:车辆工程, 2005.03.24
22 姬广斌,唐岚.电动助力转向系统的开发与研究[J].西安大学学报(自然科学版),2004.01
23 孙礼朋,王田苗,魏洪兴.基于DSP网络化无刷直流电机控制系统[J].中国机器人网:电子技术应用,2003.07.20
24 施国标.电动助力转向助力特性仿真与控制策略研究[D].吉林大学:车辆工程,2002.12.01
25 李志杰,许镇琳,王豪.CAN总线在EPS系统中的应用研究[J].制造业自动化,2004.07
26 Masahiko Kurishige and Takayuki Kifuku.Static Steering-Control System for Eletric-Power Steeting[R].Technical Reports 2001.06
27 M.b.Akhan M.J.Byatt G.Toqust I.Munro.Electric Power Assisted Steering(EPAS)[J].University of Hertfordshire,EEED,Hatfield UK.
28 Manu Parmar John Y.Hung.A Sensorless Optional Control System for an Automotive Electric Power Assit Steering System[J].IEEE Transactions on Industrial Eletronics,VOL.51,NO.2,April 2004
29 A.W.Burton.Control Objectives and Systems Analysis:Innovation Drivers for Electric Power Assisted Steering[R].The American Control Conference Anchorage,AK May 8-10,2002.
30 A.S.Richardson J.T.Economou P.C.K.Luk.Multi-Input All-Electric Vehicle Design Using a Forward Simulation Software Approach.Department of Aerospace[J].Power and Sensor,CRANFIELD University-RMCS,Shrivenham,Swindon Wiltshire,SN68LA,UK.
31 Yukihiro Fujiwara and Shuichi Adachi.Steering Assistance System for Driver Charateristics using Gain Scheduling Control.Honda R&D Co.Ltd[J].Tochigi Center/Utsunomiya University 4630 Shimotakanezawa,Haga-machi,Haga-gun,Tochigi,321-3393,Japan.
32 冯引安.汽车电动助力转向系统建模及控制算法研究[D].重庆大学:控制理论与控制工程,2007.04.20
33 郭孔辉.汽车操纵动力学[M].长春:吉林科学技术出版社,1991
34 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[J].汽车技术,2005.05
35 孟涛,陈慧,余卓平,李莉.电动助力转向系统的回正与主动阻尼控制策略研究[J].汽车工程,2006.12
36 罗石,商高高,苏清祖.线控转向系统转向盘力回馈控制模型研究[J].汽车工程,2006.10
37 王其东,杨孝剑,陈无畏,姜武华.电动助力转向系统的台架试验研究[J].汽车工程,2004.05
38 葛安林,李君.ATM车辆巡航模糊神经网络控制[J].汽车工程,1999.05
39 王耀南.神经网络自适应模糊控制在温度控制系统中的应用[J].信息与控制,1996.04
40 杨孝剑.汽车电动助力转向系统的动力学分析与控制研究[D].合肥工业大学:车辆工程.2003.04.01
41 Guang Liu Alex Kurnia Ronan De Larminat and Sanford Jay Rotter.Position Sensor Error Analysis for EPS Motor Drive[J].Motorola Inc.4000 Commercial Avenue Northbrook,IL.60062.
42 Ji-Hoon Kim Jae-Bok Song.Control Logic for an Electric Power Steering System Using Assist Motor[D].Department of Mechanical Engineering,Korea University,5 Anam-dong,Sungbuk-gu,Seoul 136-701,South Korea.
43 Amuliu Bogdan Proca and Ali Keyhani.Identification of Power Steering System Dynamic Models[D].The Ohio State University,Electrical Engineering Department,205 Dreese Laboratory,2015 Neil Avenue,Columbus,OH 4320,USA.
44 R.J.Hazelden.Application of an Optical Torque Sensor to a Vehicle Power Steering System[J].Lucas Advanced Engineering Centre,Dog Kennel Lane,Shirley,Solihull,West Midlands,B90 4JJ,UK.
45 罗石,商高高.电控助力转向系统电机驱动电路设计方案的研究[J].江苏大学学报(自然科学版),2004.06
46 李卓,萧德云,何世忠.基于神经网络的模糊自适应PID控制方法[J].信息与决策,1996.03
47 李书龙,许超.电动助力转向系统中的模糊控制[J].公路交通科技,2004.04
48 吴文江,杜彦良,季学武,陈奎元.汽车电动转向控制系统抗干扰策略的仿真[J].汽车工程,200308
49 姜长生,吴庆宪,陈文华,王从庆.现代鲁棒控制基础[M].哈尔滨:哈尔滨工业大学出版社,2005.9
50 荆体魁.汽车电动助力转向控制系统的设计[D].大连理工大学:车辆工程,2005.03.01
51 张昕.电动助力转向特性的仿真分析[D].吉林大学:车辆工程,2003.03.01
52 王望予,张昕,陈万忠,邹常丰,施国标,林逸.电动助力转向助力控制策略的研究[J].汽车技术,2003.03
53 Jim Ledin著.骆丽译.嵌入式控制系统及其C/C++实现[M].北京:北京航空航天大学出版社,2006.2