基于全桥半桥切换的EPS系统滑模控制的分析与设计

Analysis and Design of SMC for EPS Based on FB/HB Switch

基于建立的电动助力转向系统(EPS)动态模型,以电动助力转向系统为研究对象,首先分析EPS系统的功率驱动电路的两种驱动方式,分析了全桥、半桥功率驱动原理,推导出平均电流表达式,并依此设计了全桥、半桥切换器。根据滑模控制的基本原理,利用EPS系统中助力电机的模型,设计出一种简单实用的滑模控制器。仿真和试验结果表明,该控制器有很好的控制效果,克服了传统控制器不能很好解决系统中的非线性的问题,使得EPS系统具有很好的动态性能。

Based on the established dynamic model of the electric power steering system （EPS）, the power actuation electric circuit of the EPS system and the power actuation principle of full-bridge and half-bridge were analyzed, the mean current expression was derived, and the FB/HB switch was designed. A kind of simple practical controller of sliding mode control （SMC） was designed according to the basic principle of SMC by using the assistant motor in EPS. The simulation and experimental result indicate that this controller has very good control effect and it can give the EPS very good dynamic performance because the non-linear problem in traditional controller was solved.