一种电动助力转向突变力矩补偿控制方法

A compensation control method for mutation torque of electric power steering

为解决汽车紧急转向时,驾驶员转向力矩的瞬时增大导致汽车甩尾、发飘等严重影响汽车行驶安全的问题,基于电机负载转矩设计转向盘突变力矩补偿控制方法,首先建立汽车电动助力转向系统(electric power steering,EPS)及永磁有刷直流电机模型,并分析电机模型的可控性和可观测性;其次,基于卡尔曼滤波算法(Kalman filtering algorithm,KF)设计电机负载转矩估计,以此为基础确定突变力矩补偿控制电流;最后,进行不同转角输入的角阶跃仿真对比试验。研究结果表明,本文设计的突变力矩补偿控制方法能够有效地使紧急转向产生的转向盘突变力矩衰减。

To solve the safety problem of car drifting and waving etc.caused by the instantaneous increase of the driver＇s steering torque upon emergency steering,a compensation control method for mutation torque of the steering wheel is designed based on the motor load torque.Firstly,the electric power steering（EPS）system and the permanent magnet brushed DC motor model were built,and the controllability and observability of the motor model were analyzed.Then the motor load torque estimation was designed according to the Kalman filtering algorithm,and the mutation torque compensation control current was determined on this basis.Finally,comparison tests of the angle step simulation under different angle input were conducted.The results show that the compensation control method designed in this paper can effectively reduce the mutation torque caused by automobile emergency steering.