摘要
汽车在以不同车速行驶时,回正力矩变化显著会导致方向盘回正不足或回正超调。为了克服车速变化对汽车回正性能的影响,文中提出了基于回正力矩补偿的控制方法。在分析电动助力转向系统(Electric Power Steering System,EPS)数学模型和回正力矩模型基础上,基于车载电子稳定性程序传感器信号,提出通过方向盘转角确定期望回正力矩,由侧向加速度确定汽车的回正力矩。根据期望回正力矩和估计的实际回正力矩对EPS进行回正补偿,并对提出的控制算法在不同车速下进行仿真验证,结果表明:对于不同初始转角均具有良好的回正性能。
When the car is driving at different speeds,the change of the aligning torque will lead to insufficient alignment or overshoot of the steering wheel.In order to overcome the effect of speed variation on the return performance of the car,a control method based on the aligning moment compensation is proposed.Based on the analysis of the mathematical model of electric power steering system(EPS)and the aligning moment model,the desired aligning moment is determined from the steering wheel angle and the aligning moment of the car is determined from the lateral acceleration based on the on-board electronic stability program sensor signal.The proposed control algorithm is simulated and verified at different vehicle speeds based on the expected aligning moment and the estimated actual aligning moment,and the results show good return performance for different initial turning angles.
作者
黄明力
李殿起
HUANG Mingli;LI Dianqi(School of Mechanical Engineering,Shenyang University of Technology,Shenyang 110870)
出处
《机械设计》
CSCD
北大核心
2023年第S01期30-34,共5页
Journal of Machine Design
基金
国家自然基金项目(52005345)
国家重点研发计划项目(2020YFC2006701)
关键词
电动助力转向
回正力矩补偿
侧向加速度
方向盘转角
electric power steering system
aligning moment compensation
lateral acceleration
steering angle
作者简介
黄明力(1998—),男,硕士研究生,研究方向:汽车系统动力控制研究。E-mail:2967383842@qq.com;通信作者:李殿起(1968—),男,教授,博士,研究方向:机械动力学与控制。E-mail:dianqi@126.com
