汽车电子助力转向的模糊PD控制器设计

The Design of Fuzzy-PD Controller in Automobile Electrical Power Steering System

本文针对汽车助力转向环境的非线性、参数时变性和模型不确定性的情况,考虑PD控制器不能在线进行参数自整定的问题,基于模糊控制技术,提出了一种模糊自整定PD参数的汽车电子助力转向系统的控制方法与控制策略。该方法采用DSP为核心,利用模糊控制规则在线调整PD控制器的参数。运用MATLAB进行仿真的结果表明模糊PD控制器既具有PD控制器高精度的优点,又具有模糊控制器适应性强的特点,能保证有更小的超调、鲁棒性强、更短的调整时间及更好的动、静态特性,在汽车电子助力转向领域具有较高的推广应用价值。

The paper puts forward the problem that the automobile power steering system （EPS） with non-linearity , time-changing, exact mathematic model is hard to be obtained, and conventional PD controller can not adjust the parameters itself on line, a method and strategy of PD-control with fuzzy self-adjusting parameter is proposed based on fuzzy control technique. It uses DSP and the fuzzy control rules to adjust the parameters of the PD controller on line. The result of simulation using MATLAB proves that it possesses both the precise character of PD controller and the flexible advantage of fuzzy controller, and can guarantee that the controller has small overshoot, robustness adaptability ,short adjusting time , good dynamic and static quality. It has the reference value for further applications in the EPS field.