基于汽车质心侧偏角的EPS回正控制策略

Returnability Control Strategy for EPS Based on Vehicle Sideslip Angle

针对传统的转向回正控制容易产生回正过度或回正不足的情况,提出一种基于质心侧偏角的汽车电动助力转向回正控制策略。建立车辆动力学模型,基于车载电子稳定程序传感器信号,采用无迹卡尔曼滤波方法在线实时估计路面附着系数和车辆的质心侧偏角。将估计的质心侧偏角与期望质心侧偏角的偏差作为输入,对车辆进行转向回正滑模控制。在Carsim、Matlab/Simulink和LabVIEW中对车辆不同工况下的转向回正性能进行仿真和硬件在环试验。结果表明,提出的转向回正控制策略能够有效地改善车辆的中心转向性能,使车辆具有良好的回正效果。

In view of that traditional steering return control easily leads to overdoing or under-doing return,a returnability control strategy for electric power steering based on mass center sideslip angle is proposed.A vehicle dynamics model is established based on the sensor signals of on-board electronic stability program,and the adhesion coefficient of road surface and the sideslip angle of vehicle mass center are estimated with unscented Kalman filter technique online in real-time.Then a steering return sliding mode control is exerted over vehicle with the deviation of estimated mass center sideslip angle from the expected one as input.Finally both simulation and hardware-in-theloop test on steering return performance in different working conditions are conducted with Carsim,Matlab/Simulink and Lab VIEW respectively.The results show that the steering return control strategy proposed can effectively improve the on-center steering performance of vehicle with a sound steering return effect.