基于混合灵敏度方法的EPAS系统控制研究

Study on Control of EPAS System Using Mixed Sensitivity Method

建立汽车模型和EPAS系统动力学模型,针对EPAS系统中存在的传感器噪声和路面干扰等难题,将基于混合灵敏度设计方法的H∞鲁棒控制理论应用于汽车EPAS系统的控制研究,设计混合灵敏度H∞鲁棒控制器,并与PID控制器进行仿真比较。仿真结果表明,采用H∞控制器能有效地抑制传感器噪声和路面干扰,提高了系统的抗干扰性能,增强了系统的鲁棒性。

The dynamics model of EPAS system and the model of automobiles are established in this paper. Troublesome problems in design of EPAS controller, such as the noise of torque sensors, disturbance induced by road conditions and so on, are considered. H∞ robust control theory based on mixed sensitivity design method is applied to study the control strategy of EPAS. H∞ robust controller is designed by means of mixed sensitivity method. Its simulation result is compared with that of PID controller. The simulation result shows that the H∞ robust controller can suppress the noise of torque sensors and road disturbance effectively, the anti-interference performance of the EPAS system is improved, and the robustness of the system is strengthened.