横向运动学综合反馈EPS模糊滑模控制

Synthesized Feedback of Lateral Kinematics Integrated with Fuzzy Sliding Mode Control for EPS

针对电控助力转向EPS电机电流的跟随性以及震颤问题,建立汽车转向系模型,提出模糊滑模结构控制算法。考虑到横向运动学信息对驾驶员操纵特性的影响,运用反馈和模糊滑模控制思想,设计了权系数模糊,自动调整横向运动学综合反馈的EPS模糊滑模控制器。仿真结果显示:横向运动学综合反馈模糊滑模控制的EPS电机电流具有良好的跟随性、快速性,且电流的震颤现象基本消失,系统具有良好的鲁棒特性,同时汽车的横摆角速度以及侧偏角的峰值明显下降,提高了汽车的操纵稳定性。

In order to solve the current tracking and chattering problems in the electric power steering （EPS） system, the model of the automobile steering system is established and the control algorithm of the fuzzy sliding model is proposed. Considering the influence of lateral kinematic information on the characteristics of the driver manipulation, the theory of the feed back and fuzzy sliding mode control is used, and an synthesized feedback EPS fuzzy sliding mode controller of lateral kinematics with weight coefficient self-regulation based on fuzzy control is designed. Simulation results show that the motor current of the synthesized feedback fuzzy sliding mode control EPS of lateral kinematics has a good tracking and rapidity, the current tremor phenomenon almost disappears, the system has good robustness properties, and meanwhile the peak of the automobile＇s yaw rate and side slip angle decreases significantly, and finally the automobile＇s handling stability is greatly improved.