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電動(dòng)助力轉(zhuǎn)向系統(tǒng)全工況建模及試驗(yàn)驗(yàn)證
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Verifying of EPS at All Operating Conditions
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    摘要:

    為克服以往車輛電動(dòng)助力轉(zhuǎn)向（EPS）模型的不足，結(jié)合簡化的原地轉(zhuǎn)向輪胎模型和基于Doguff輪胎模型的七自由度整車模型，建立了轉(zhuǎn)向系統(tǒng)轉(zhuǎn)向及回正時(shí)的力學(xué)模型。為得到車輛的轉(zhuǎn)向力矩和回正性能特性，對(duì)無助力轉(zhuǎn)向全工況（原地及行駛條件下）轉(zhuǎn)向操縱轉(zhuǎn)矩和回正的轉(zhuǎn)向盤殘留轉(zhuǎn)角進(jìn)行仿真，試驗(yàn)結(jié)果表明所設(shè)計(jì)的模型可以準(zhǔn)確描述轉(zhuǎn)向操縱轉(zhuǎn)矩和回正特性。進(jìn)而設(shè)計(jì)了基于滑模變結(jié)構(gòu)電動(dòng)助力轉(zhuǎn)向控制策略進(jìn)行助力和回正控制，仿真和實(shí)車驗(yàn)證結(jié)果表明，基于該模型設(shè)計(jì)的控制策略可以有效降低駕駛員的操縱轉(zhuǎn)矩和提高車輛的回正性能。

    Abstract:

    In order to overcome the shortage of the previous model of EPS, the dynamic model for steering system in steering and aligning condition was established, based on the combination of tire model of parking steer and 7 degree-of-freedom vehicle model with Doguff tyre model. For obtaining the characteristic of vehicle steering moment and return ability, the steer torque and return ability of manual steering system was analyzed at all operating conditions. The simulation result and road test showed the model built can accurately describe steering torque and return ability well and truly. Finally, a control strategy for controlling power assistant and self-align was framed based on sliding mode control theory (SMC). The simulation result and road test showed the sliding mode control strategy based on the model improved the steering easiness and vehicle self-align capability effectively. 

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趙林峰,陳無畏,劉罡.電動(dòng)助力轉(zhuǎn)向系統(tǒng)全工況建模及試驗(yàn)驗(yàn)證[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2009,40(10):1-7. Verifying of EPS at All Operating Conditions[J]. Transactions of the Chinese Society for Agricultural Machinery,2009,40(10):1-7.

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