摘要
考虑路面附着对驾驶员转向操纵的影响,设计了电动助力转向电流补偿控制策略。为了实时估计出路面附着系数,基于无迹卡尔曼滤波理论建立了路面附着系数观测器。在传统电动助力转向控制基础上,把路面附着和车速作为输入,设计了模糊控制器,得到控制补偿叠加电流,对传统电动助力转向进行修正。在MATLAB/Simulink中的仿真分析说明无迹卡尔曼滤波观测器能实时准确估计出路面附着系数,并且所设计的电动助力转向电流补偿控制策略能综合车辆行驶时的路面附着、车速和转向盘转角等信息,由助力执行电机产生适当的助力,使驾驶员获得良好的路感,提高车辆行驶稳定性和安全性。
Considering the impact of tire-road friction coefficient on the driver’s steering manipulation,a control strategy of current compensation for electric power steering was designed.For the real-time estimation of tire-road friction coefficient,an observer was established according to the Unscented Kalman Filter （UKF）theory.Based on the control strategy of conventional electric power steering,taking the tire-road friction coefficient and vehicle speed as input,a fuzzy controller was designed so that the superimposed current for control compensation was obtained to modify the traditional electric power steering.The simulation analysis by MATLAB /Simulink shows that the UKF observer can accurately estimate the real time tire-road friction coefficient,and the current compensation control strategy of electric power steering can integrate the informations of tire-road friction coefficient,vehicle speed,steering wheel angle,etc.The appropriate power can be generated by power motor so that the driver can obtain good road feeling to improve the stability and safety of vehicle.
出处
《振动与冲击》
EI
CSCD
北大核心
2016年第22期123-128,共6页
Journal of Vibration and Shock
基金
国家自然科学基金资助项目(51275162)
吉林大学汽车仿真与控制国家重点实验室开放基金(20121109)
关键词
车辆工程
电动助力转向
无迹卡尔曼滤波观测器
路面附着系数估计
vehicle engineering
electric power steering
unscented kalman filter observer
friction coefficient estimation
