汽车电动助力转向系统控制策略研究
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摘要
汽车电动助力转向系统是近年来发展起来的一种新型助力转向系统,该系统是由电子控制单元根据传感器采集到的信号来控制助力电动机的运转,从而实现电动助力转向的功能和良好特性。EPS除了具备液压助力转向系统的转向轻便等优点外,还具有转向平稳、节能、环保等一系列特点,因此EPS取代液压助力转向系统是转向系统发展的必然趋势。控制策略是EPS的核心技术之一,因而对该内容进行研究与探讨具有重要的理论和实际意义。
论文介绍了转向系统的发展过程、EPS的工作原理及主要特点,阐述了国内外在该领域的研究与应用现状。针对当前在EPS控制策略研究方面所存在的一些问题,确立了本文的总体研究内容和研究方法。在现有的文献资料基础上总结出EPS在操纵性能和路感方面的评价方法与评价指标。对EPS的结构进行适当简化,分析EPS工作时的受力情况,建立助力转向系统及各子系统的动力学模型。
论文通过分析汽车和驾驶员对转向控制的要求与特点,确定了助力特性的基本要求。介绍了在电动助力转向控制中采用的助力控制、补偿控制、回正控制和阻尼控制等控制策略。在助力控制的研究中,分析并比较了直线助力、折线助力和曲线助力三种助力特性曲线的特性与优缺点,利用模糊控制方法确定了本文所应用的助力特性。
论文总结了当前可被应用于EPS的几种控制策略,确定了本文中EPS的基本助力控制算法,在Matlab/Simulink中分别采用模糊控制和PID控制方法建立起电动助力转向整体系统和各子系统的控制策略仿真模型,并对其进行仿真分析,研究在各种信号输入下控制器的不同参数对系统响应的影响。结果表明,所采用的控制策略可反映和满足助力特性的要求。
本文的研究内容为控制策略在EPS上的应用研究提供了理论基础和设计方法,具有实际指导意义。
Electric Power Steering (EPS) system is a new developing technology of power steering system in automotive. The principle of EPS is that the assistant motor works according to the measured torque and vehicle signals so that power steering can be modified and the performance of steering can be perfect. Besides EPS has the light steering torque like Hydraulic Power Steering (HPS) system, it has many other advantages such as steering placidly, low energy consuming, environment protecting and so on. Therefore it is an absolute tendency that HPS is taken place by EPS. Control strategy is one of the most essential technologies of EPS, and it is significant in both academy and practice to take much research and development in this area.
The thesis introduces the development of steering technology and the features of EPS including function, types and advantages, and summarizes the research status about the EPS control logic. The research content is confirmed based on the particular defects of the EPS control logic. Moreover, the method to evaluate the road feeling and handing stability is summarized based on the available materials. After kinematical analyses of the automotive steering system the torque and angel dynamic models are built and kinematical character of the automobile steer can be learned through the simulation, and then an EPS simulation model is finally built with the kinematical analysis.
According to the need of the vehicle and the driver on steering control, the basic assist characteristic is confirmed. The assist control, the compensation control, the damp control and the return control are all adopted in the EPS model. In the research of the assist control, three kinds of assist control models are compared, and the basic assist control strategy is selected. The assist characteristic curve is designed by fuzzy control theory.
Several control strategies that can be adopted in EPS are listed and compared. The algorithm of basic assist characteristic in this thesis is confirmed. The simulation model of control strategy is built respectively based on fuzzy control theory and PID control theory via the Matlab/Simulink software, and then the model is simulated in order to find out the factors and influences of outputs based on different inputs. The simulation infers that the control strategy of EPS built in the thesis can greatly inflect and meet the need of assist characteristic.
Research of this thesis provides important theoretic foundations and design methods for development of EPS system. Such a study will be of significance in practice guiding.
论文介绍了转向系统的发展过程、EPS的工作原理及主要特点,阐述了国内外在该领域的研究与应用现状。针对当前在EPS控制策略研究方面所存在的一些问题,确立了本文的总体研究内容和研究方法。在现有的文献资料基础上总结出EPS在操纵性能和路感方面的评价方法与评价指标。对EPS的结构进行适当简化,分析EPS工作时的受力情况,建立助力转向系统及各子系统的动力学模型。
论文通过分析汽车和驾驶员对转向控制的要求与特点,确定了助力特性的基本要求。介绍了在电动助力转向控制中采用的助力控制、补偿控制、回正控制和阻尼控制等控制策略。在助力控制的研究中,分析并比较了直线助力、折线助力和曲线助力三种助力特性曲线的特性与优缺点,利用模糊控制方法确定了本文所应用的助力特性。
论文总结了当前可被应用于EPS的几种控制策略,确定了本文中EPS的基本助力控制算法,在Matlab/Simulink中分别采用模糊控制和PID控制方法建立起电动助力转向整体系统和各子系统的控制策略仿真模型,并对其进行仿真分析,研究在各种信号输入下控制器的不同参数对系统响应的影响。结果表明,所采用的控制策略可反映和满足助力特性的要求。
本文的研究内容为控制策略在EPS上的应用研究提供了理论基础和设计方法,具有实际指导意义。
Electric Power Steering (EPS) system is a new developing technology of power steering system in automotive. The principle of EPS is that the assistant motor works according to the measured torque and vehicle signals so that power steering can be modified and the performance of steering can be perfect. Besides EPS has the light steering torque like Hydraulic Power Steering (HPS) system, it has many other advantages such as steering placidly, low energy consuming, environment protecting and so on. Therefore it is an absolute tendency that HPS is taken place by EPS. Control strategy is one of the most essential technologies of EPS, and it is significant in both academy and practice to take much research and development in this area.
The thesis introduces the development of steering technology and the features of EPS including function, types and advantages, and summarizes the research status about the EPS control logic. The research content is confirmed based on the particular defects of the EPS control logic. Moreover, the method to evaluate the road feeling and handing stability is summarized based on the available materials. After kinematical analyses of the automotive steering system the torque and angel dynamic models are built and kinematical character of the automobile steer can be learned through the simulation, and then an EPS simulation model is finally built with the kinematical analysis.
According to the need of the vehicle and the driver on steering control, the basic assist characteristic is confirmed. The assist control, the compensation control, the damp control and the return control are all adopted in the EPS model. In the research of the assist control, three kinds of assist control models are compared, and the basic assist control strategy is selected. The assist characteristic curve is designed by fuzzy control theory.
Several control strategies that can be adopted in EPS are listed and compared. The algorithm of basic assist characteristic in this thesis is confirmed. The simulation model of control strategy is built respectively based on fuzzy control theory and PID control theory via the Matlab/Simulink software, and then the model is simulated in order to find out the factors and influences of outputs based on different inputs. The simulation infers that the control strategy of EPS built in the thesis can greatly inflect and meet the need of assist characteristic.
Research of this thesis provides important theoretic foundations and design methods for development of EPS system. Such a study will be of significance in practice guiding.
引文
[1]张昌华,王勇,邓楚南.汽车电动助力转向系统控制策略的探讨[J].武汉理工大学学报,2004年第26卷第3期
[2]杨艳芬.汽车电动助力转向系统的发展和控制策略研究[D].长安大学硕士学位论文,20070613
[3]J.E.Naranjo, C. Gonzalez, R. Garcia, and T. de Pedro. Electric Power Steering Automation for Autonomous Driving.
[4]李鸿炜.汽车电动助力转向系统控制策略的研究[D].重庆交通大学硕士学位论文,20060331
[5]张春花,李翔晟,肖朝明.电动助力转向系统控制策略研究[J].自动化技术与应用,2005年第26卷第2期
[6]徐涛.汽车电动助力转向控制策略分析与研究[D].武汉理工大学硕士学位论文,20090501
[7]邓利军.EPS系统控制策略研究[D].长安大学硕士学位论文,20090520
[8]Hui Zhang, Jing Ren, Yanru Zhong. Study on Assisted Performance of Electric Power Steering Based in Fuzzy Control.
[9]王元聪,李伟光.汽车电动助力式转向系统(EPS)控制策略研究[J].交通与计算机,2005年第6期
[10]王锋.电动助力转向系统的控制策略研究[D].江苏大学硕士学位论文,200706
[11]于林发.汽车电动助力转向系统的仿真技术研究[D].长安大学硕士学位论文,200803
[12]陈卫平.汽车电动助力转向系统的关键技术[D].合肥工业大学硕士大学论文,20040801
[13]周鑫.基于Adams与Matlab的汽车电动助力转向系统的联合仿真[D].武汉理工大学硕士大学论文,20090501
[14]人民网http://www.people.com.cn/GB/paper1668/10716/974269.html
[15]王雄波.基于模糊控制的电动助力转向系统的研究与开发[D].湖南大学硕士学位论文,20080422
[16]申荣卫,林逸,台晓虹.电动助力转向系统建模与补偿控制策略[J].农业机械学报,2007.07
[17]张永辉.汽车电动助力转向系统特性仿真研究[D].长安大学硕士学位论文,200905
[18]刘强.汽车电动助力转向系统的实现及助力控制算法研究[D].北京工业大学硕士学位论文,200905
[19]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].合肥工业大学硕士学位论文,20030401
[20]陈家瑞.汽车构造[M].北京：人民交通出版社,1994.6.
[21]张宝生等.汽车优化设计理论与方法[M].北京：机械工业出版社,2000.9.
[22]雷明森,向铁明.汽车电动助力转向的控制策略[J].公路与汽运,2008年第4期
[23]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年第12期
[24]郑建华,高占凤,吴文江.模糊PID控制策略在电动助力转向系统中的应用[J].石家庄铁道学院学报,2008年第21卷第4期
[25]Zhanfeng Gao,Wenjiang Wu,Jianhua Zheng,Zhanpeng Sun. Electric Power Steering System Based on Fuzzy PID Control. ICEMI,2009
[26]Jose-Javier Pastor Balbas,Ericsson, Spain Stefan Rommer, John Stenfelt, Ericsson, Sweden. Policy and Charging Control in the Evolved Packet System.IEEE Communications Magazine, February 2009
[27]刘慧忱,李伟.电动助力转向系统的神经模糊控制策略[J].现代交通技术,2007年2月
[28]徐向进,于建成.自适应模糊神经控制的汽车电动助力转向系统[J].电子科技,2005.06
[29]Umit ONEN, Mete KALYONCU, Mustafa TINKIR, Faith M. BOTSALI. Gait generation of a two-legged robot by using adaptive network bsaed fuzzy logic control.
[30]Nila Abolfathi Nobari, Alireza Novinzade. Calculating the Reliability of Attitude Determination Control, Electrical Power and Thermal Subsystem in a Satellite.
[31]Tsung-Hsien Hu, Chih-Jung Yeh, Shih-Rung Ho, Tsung-Hua Hsu, and Ming-Chih Lin. Design of Control Logic and Compernsation Strategy for Electric Power Steering Systems. IEEE Vehicle and Propulsion (VPPC), September 3-5,2008, Harbin, China.
[32]任廷.汽车电动助力转向系统动态分析及控制策略的研究[D].华中科技大学硕士学位论文,20040508
[33]陈晖.电动助力转向回正控制策略的研究[D].同济大学硕士学位论文,20050401
[34]肖生发,冯樱,马力.电子控制式电动助力转向系统的开发前景[J].汽车科技,2001年第9期
[35]卢斌.电动助力转向控制策略的仿真研究[D].浙江大学硕士学位论文,20060101
[36]刘照,杨家军,廖道训.基于动态分析的电动助力转向系统设计与研究[J].华中科技大学学报(自然科学版),2001年第12期
[37]A.T.Zaremba, R.I.Davis. Dynamic Analysis and Stability of a Power Assist Steering System. Proc, of the ACC, Seattle, Washington, June 1995
[38]Yasuo Shimizu, Toshitake kawai.Development of Electric Power Steering. SAE paper No. 910014
[39]卢娟.电动助力转向系统建模与仿真研究[D].重庆大学硕士学位论文,20060401
[40]尹念东,余群.汽车操纵稳定性的虚拟实验系统[J]冲国农业大学学报,2001 Vol.6
[41]Hui Zhang, Jinhong Liu, Yuzhi Zhang, Jing Ren, Yongjun Gao. Research and Simulation of Electric Power Steering Based on Fuzzy Control.
[42]余志生主编.汽车理论[M].北京：机械工业出版社,2001.
[43]王望予.汽车设计[M]北京：机械工业出版社,2000.1.
[44]Yin Chunfang, Wang Shaohua, Zhao Jinbo. Flexible PID Control Design in Assistance Condition of Automotive EPS System. IFCSTA,2009.175
[45]Xin Li,Xue-Ping Zhao, Jie Chen. Active Reduction of Pressure Ripple for Electric Power Steering Systems via Fuzzy Control Approach. FUZZ 2008
[46]Wei Wanying, Yin Guofu, Tian Daqing. Analysis On Mechatronic Fuzzy-PID Closed-loop Control System. ICEMI,2009
[2]杨艳芬.汽车电动助力转向系统的发展和控制策略研究[D].长安大学硕士学位论文,20070613
[3]J.E.Naranjo, C. Gonzalez, R. Garcia, and T. de Pedro. Electric Power Steering Automation for Autonomous Driving.
[4]李鸿炜.汽车电动助力转向系统控制策略的研究[D].重庆交通大学硕士学位论文,20060331
[5]张春花,李翔晟,肖朝明.电动助力转向系统控制策略研究[J].自动化技术与应用,2005年第26卷第2期
[6]徐涛.汽车电动助力转向控制策略分析与研究[D].武汉理工大学硕士学位论文,20090501
[7]邓利军.EPS系统控制策略研究[D].长安大学硕士学位论文,20090520
[8]Hui Zhang, Jing Ren, Yanru Zhong. Study on Assisted Performance of Electric Power Steering Based in Fuzzy Control.
[9]王元聪,李伟光.汽车电动助力式转向系统(EPS)控制策略研究[J].交通与计算机,2005年第6期
[10]王锋.电动助力转向系统的控制策略研究[D].江苏大学硕士学位论文,200706
[11]于林发.汽车电动助力转向系统的仿真技术研究[D].长安大学硕士学位论文,200803
[12]陈卫平.汽车电动助力转向系统的关键技术[D].合肥工业大学硕士大学论文,20040801
[13]周鑫.基于Adams与Matlab的汽车电动助力转向系统的联合仿真[D].武汉理工大学硕士大学论文,20090501
[14]人民网http://www.people.com.cn/GB/paper1668/10716/974269.html
[15]王雄波.基于模糊控制的电动助力转向系统的研究与开发[D].湖南大学硕士学位论文,20080422
[16]申荣卫,林逸,台晓虹.电动助力转向系统建模与补偿控制策略[J].农业机械学报,2007.07
[17]张永辉.汽车电动助力转向系统特性仿真研究[D].长安大学硕士学位论文,200905
[18]刘强.汽车电动助力转向系统的实现及助力控制算法研究[D].北京工业大学硕士学位论文,200905
[19]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].合肥工业大学硕士学位论文,20030401
[20]陈家瑞.汽车构造[M].北京：人民交通出版社,1994.6.
[21]张宝生等.汽车优化设计理论与方法[M].北京：机械工业出版社,2000.9.
[22]雷明森,向铁明.汽车电动助力转向的控制策略[J].公路与汽运,2008年第4期
[23]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年第12期
[24]郑建华,高占凤,吴文江.模糊PID控制策略在电动助力转向系统中的应用[J].石家庄铁道学院学报,2008年第21卷第4期
[25]Zhanfeng Gao,Wenjiang Wu,Jianhua Zheng,Zhanpeng Sun. Electric Power Steering System Based on Fuzzy PID Control. ICEMI,2009
[26]Jose-Javier Pastor Balbas,Ericsson, Spain Stefan Rommer, John Stenfelt, Ericsson, Sweden. Policy and Charging Control in the Evolved Packet System.IEEE Communications Magazine, February 2009
[27]刘慧忱,李伟.电动助力转向系统的神经模糊控制策略[J].现代交通技术,2007年2月
[28]徐向进,于建成.自适应模糊神经控制的汽车电动助力转向系统[J].电子科技,2005.06
[29]Umit ONEN, Mete KALYONCU, Mustafa TINKIR, Faith M. BOTSALI. Gait generation of a two-legged robot by using adaptive network bsaed fuzzy logic control.
[30]Nila Abolfathi Nobari, Alireza Novinzade. Calculating the Reliability of Attitude Determination Control, Electrical Power and Thermal Subsystem in a Satellite.
[31]Tsung-Hsien Hu, Chih-Jung Yeh, Shih-Rung Ho, Tsung-Hua Hsu, and Ming-Chih Lin. Design of Control Logic and Compernsation Strategy for Electric Power Steering Systems. IEEE Vehicle and Propulsion (VPPC), September 3-5,2008, Harbin, China.
[32]任廷.汽车电动助力转向系统动态分析及控制策略的研究[D].华中科技大学硕士学位论文,20040508
[33]陈晖.电动助力转向回正控制策略的研究[D].同济大学硕士学位论文,20050401
[34]肖生发,冯樱,马力.电子控制式电动助力转向系统的开发前景[J].汽车科技,2001年第9期
[35]卢斌.电动助力转向控制策略的仿真研究[D].浙江大学硕士学位论文,20060101
[36]刘照,杨家军,廖道训.基于动态分析的电动助力转向系统设计与研究[J].华中科技大学学报(自然科学版),2001年第12期
[37]A.T.Zaremba, R.I.Davis. Dynamic Analysis and Stability of a Power Assist Steering System. Proc, of the ACC, Seattle, Washington, June 1995
[38]Yasuo Shimizu, Toshitake kawai.Development of Electric Power Steering. SAE paper No. 910014
[39]卢娟.电动助力转向系统建模与仿真研究[D].重庆大学硕士学位论文,20060401
[40]尹念东,余群.汽车操纵稳定性的虚拟实验系统[J]冲国农业大学学报,2001 Vol.6
[41]Hui Zhang, Jinhong Liu, Yuzhi Zhang, Jing Ren, Yongjun Gao. Research and Simulation of Electric Power Steering Based on Fuzzy Control.
[42]余志生主编.汽车理论[M].北京：机械工业出版社,2001.
[43]王望予.汽车设计[M]北京：机械工业出版社,2000.1.
[44]Yin Chunfang, Wang Shaohua, Zhao Jinbo. Flexible PID Control Design in Assistance Condition of Automotive EPS System. IFCSTA,2009.175
[45]Xin Li,Xue-Ping Zhao, Jie Chen. Active Reduction of Pressure Ripple for Electric Power Steering Systems via Fuzzy Control Approach. FUZZ 2008
[46]Wei Wanying, Yin Guofu, Tian Daqing. Analysis On Mechatronic Fuzzy-PID Closed-loop Control System. ICEMI,2009