基于整车动力学模型的EPS预测控制策略仿真研究

Research and Simulation for Predictive Control Strategy of Electric Power Steering System Based on Whole Vehicle Dynamics

为了提高车辆的转向性能,基于整车动力学模型,研究电动助力转向系统(EPS)控制策略;针对PID控制参数固定不变,无法实时控制EPS动态响应的问题,提出了一种滚动优化的预测控制策略,并运用CarSim整车模型与Matlab软件相结合,实现了EPS控制仿真;通过对比仿真结果中横摆角速度和质心侧偏角等转向性能参数表明:用预测控制算法对EPS实施控制,比传统控制方法更精确,可有效提高车辆的转向性能和操纵稳定性,使EPS操控更加精准和轻捷。

Abstract： In order to improve the vehicles steering performance, the electric power steering system （EPS） control strategy is investiga- ted based on whole vehicle dynamics model. Due to the fixed PID controls parameter, which cannot dispose the problems concerning the real --time control on EPS dynamic response, a generalized predictive control （GPC） strategy with moving horizon optimization is presented. In terms of solving these problems, accompanied the methodology of combining the Full vehicle Model in CarSim and EPS model in Matlab, this co--simulation model is verified by test data. By comparison the stimulation Outputs on steering characteristics such as yaw rate, slip angle and so on, it is shows that controlling EPS by GPC strategy is more effective than traditional way. It can improve the steering characteristics and operation stability on vehicle, so itis more accurate and flexible on ESP operation.