摘要
关于汽车电动助力转向系统(EPS)控制的快速性和稳定性优化问题,传统二自由度整车模型、线性轮胎模型建模不完善及助力电机电流实时跟踪效果差。为解决上述问题,提出了一种滑模控制算法,利用七自由度整车模型和刷子模型,在Matlab/Simulink仿真软件中搭建了电动助力转向系统系统仿真模型,进行仿真研究。仿真结果表明,所设计的系统可以反映路面附着系数对自回正力矩的影响,所设计的滑模控制算法在系统动态过程中能实时跟踪目标电流,比常规PID控制具有更好的快速性、稳定性和鲁棒性,为转向爆胎的研究打下了理论基础。
The paper designed a sliding mode control algorithm and used seven degrees of freedom vehicle model to build EPS system mode based on Matlab/Simulink for the simulation research.The simulation results show that the designed system can reflect the tire-road friction coefficient on the impact of self-aligning torque,and the designed sliding mode control algorithm can track the target current.It has better rapidity,stability and robustness than the conventional PID control,and lays the theoretical basis for study of the flat tire due to steering.
出处
《计算机仿真》
CSCD
北大核心
2013年第8期159-163,232,共6页
Computer Simulation
基金
国家自然科学基金项目(60804059)
广西自然科学基金项目(2010GXNSFA013130)
关键词
转向
刷子模型
整车模型
滑模控制
Steering
Brush model
Vehicle model
Sliding mode control
