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電動助力轉(zhuǎn)向系統(tǒng)建模與補(bǔ)償控制策略
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    摘要:

    分析了電動助力轉(zhuǎn)向系統(tǒng)各組成部分的數(shù)學(xué)模型，建立了基于Matlab/Simulink的電動助力轉(zhuǎn)向系統(tǒng)仿真模型。構(gòu)建了電動助力轉(zhuǎn)向系統(tǒng)的兩層控制策略，上層控制策略采用基本助力控制和補(bǔ)償控制的方法確定目標(biāo)電流，下層控制策略通過PID調(diào)節(jié)器完成對目標(biāo)電流的準(zhǔn)確跟蹤控制。仿真結(jié)果表明，設(shè)計的控制策略解決了轉(zhuǎn)向輕便性和路感的問題，同時改善了轉(zhuǎn)向的動態(tài)效果和回正能力。

    Abstract:

    The mathematic models of electric power steering system were analyzed and the simulation model based on Matlab/Simulink was built. Two layers control strategies were proposed, which are top layer control strategy and bottom layer control strategy. The top layer control strategy calculates the target current by the methods of basic assist control and compensation control, and the bottom layer control strategy regulates the actual current to track the target current by the PID controller. The simulation results showed that the problems of steering easiness and road feel were solved, the steering dynamic effect was improved, and the return ability was increased.

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申榮衛(wèi),林逸,臺曉虹,施國標(biāo).電動助力轉(zhuǎn)向系統(tǒng)建模與補(bǔ)償控制策略[J].農(nóng)業(yè)機(jī)械學(xué)報,2007,38(7):5-9.[J]. Transactions of the Chinese Society for Agricultural Machinery,2007,38(7):5-9.

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