基于Dspace轻型货车EPS系统控制策略研究

Research on Control Strategy of EPS System for Light Truck Based on Dspace

针对传统的PID控制策略不能够适应汽车转向时多变的复杂工况,导致汽车转向性能降低的问题,采用独立于系统参数和干扰的滑模控制策略,对轻型货车电动助力转向系统进行研究,通过离线仿真确定滑模控制策略的趋近律系数并和参数整定后的PID控制策略进行仿真对比,然后结合基于Dspace的试验台架完成对滑模控制策略的试验验证。结果表明:滑模控制策略比PID控制策略具有较小的超调量和较高的稳定性,并通过试验验证了滑模控制策略能够实现对目标电流的实时跟随,提高了系统的鲁棒性,对汽车电动助力转向控制器的开发具有重要意义。

Aiming at the problem that the traditionalPID control strategy can’t adapt to the changeable and complex conditions of automobile steering,which leads to the reduction of automobile steering performance, a sliding mode control strategy independent of system parameters and disturbances is adopted to study the electric power steering system of light truck. The reaching law coefficients of the sliding mode control strategy are determined by off-line simulation and the PID control strategy after parameter tuning is simulated. True comparison,and then combined with the test bench based on Dspace to complete the experimental verification of the sliding mode control strategy. The results show that the sliding mode control strategy has smaller overshoot and higher stability than the PID control strategy. The experiment proves that the sliding mode control strategy can achieve real-time tracking of the target current, improve the robustness of the system,and is of great significance to the development of the electric power steering controller.