摘要
电动汽车电动助力转向(EPS)电动机在低速或变向运动时,其动态和静态特性存在不同程度的非线性。进行了EPS系统动力学分析和汽车三自由度动力学分析,建立了EPS系统控制结构。针对电动机的低速死区非线性和高速饱和非线性特性,设计了非线性补偿方法。开发了非线性补偿的实现算法和实现规则。设计了实车试验系统。进行了EPS电动机的电压-转速静态特性测试。结果表明:补偿后的非线性特性得到明显改善,有利于消除电动机在速度反向时的运动不连续,避免系统的稳态性能造成额外的稳态误差。对实现EPS系统的高性能和高精度控制、改善系统性能和提高控制质量具有重要的工程应用意义。
The dynamic and static characteristics of Electric Power Steering（EPS） motor of electric vehicle have different degrees of nonlinearity in the low-speed or reversing motion.The EPS control structure was designed based on established EPS system dynamics and automotive 3—DOF steering dynamics.Aimed to the low-speed dead zone and high-speed saturation nonlinear characteristics,the nonlinear compensation method was designed and the nonlinear compensation algorithm and implementation rules were developed.The full-vehicle test platform was designed and the voltage-speed static characteristics of the EPS motor was tested.The results showed that the compensated nonlinear properties were significantly improved,it’s not only conducive to eliminate the speed-reversed motion discontinuity but to avoid the additional steady-state error created by the steady-state performance.It has important engineering significance to achieve high performance and high precision control and to improve system performance and control quality.
出处
《科学技术与工程》
北大核心
2012年第27期6997-7002,共6页
Science Technology and Engineering
基金
国家自然科学基金(50875112)
江苏省自然科学基金(BK2012586)
江苏省高校自然科学基金(11KJD580001)
汽车仿真与控制国家重点实验室开放基金(20111115)
江苏省道路载运工具新技术应用重点实验室开放基金项目(BM2008206010)资助
