电磁转差式ECHPS系统自适应模糊滑模控制研究

Research on Adaptive Fuzzy Sliding Mode Control of Electromagnetic Slipping Type Electrical Controlled Hydraulic Power Steering System

为实现转向系统随车速可变的助力特性,提出了一种电磁转差式商用车电控液压助力转向系统。分析了该系统的基本组成及原理和电磁转差离合器的组成结构,建立了电磁转差离合器的动力学模型和控制模型。针对控制系统存在的不确定性和外界干扰,提出了自适应模糊滑模控制策略,将模糊推理应用于系统参数的整定,以补偿控制系统因自身不确定性和外界干扰所导致的误差。仿真结果表明,所设计的自适应模糊滑模控制具有超调量小、稳态精度好、抗干扰能力强的优点,可实现电磁转差离合器的精确稳定控制。

In order to have good alterable assist characteristics with speed on vehicle steering system, an electromagnetic slipping type ECHPS system was introduced, The basis principle and structural form of electromagnetic slipping type ECHPS were analyzed, and the dynamics and control model of electromagnetic slipping clutch were established. Aimed at the existing uncertainties and external interferences of the control system, an adaptive fuzzy sliding mode control was proposed,and the fuzzy reasoning was applied to adjust the system parameters to compensate the error caused by the uncertainties and external interferences of the control system. The results of simulation show that adaptive fuzzy sliding mode controller has advantages of less overshoot, higher steady-state accuracy and anti-interference ability, which can realize the control of electro-tic slipping clutch accurately and stably.