自动化学报Issue(7)：1433-1441,9.DOI:10.3724/SP.J.1004.2014.01433
基于UIO的EPS系统状态反馈最优控制
Optimal State Feedback Control of EPS System Based on UIO
摘要
Abstract
To obtain the resistance moment of the EPS (Electric powering steering) system accurately is an important factor to improve the traffic safety. Considering that the difference between assist torque and road feel of the EPS system under different kinds of pavement may lead to incorrect manipulation when a vehicle is steering, a nonlinear observer based on the two-degree-freedom vehicle dynamics model and tire characteristics is designed to estimate the adhesion coefficient of the current pavement with the side-slip angle and ideal surface adhesion coefficient as inputs. Consequently, the resistance moment can be obtained. Then, according to the EPS model, the unknown input observer (UIO) is designed to estimate the steering wheel input torque. Therefore, the sensorless optimal control of the EPS system can be conducted in terms of the state feedback. Finally, the corresponding simulations are carried out through the EPS system with PMSM. The results show that in the case of the minimum of the q-axis closed-loop current error of the PMSM, the steering wheel residual angle in this approach can be reduced from 25◦ to 0◦, which can realize disturbance rejection and improve the steering robustness of the human-vehicle system effectively.关键词
电动助力转向/未知输入观测器/状态反馈/阻力距/助力-回正特性Key words
Electric powering steering/unknown input observer/state feedback/resistance moment/dynamic return-ability characteristics引用本文复制引用
郑太雄,周花,李永福..基于UIO的EPS系统状态反馈最优控制[J].自动化学报,2014,(7):1433-1441,9.基金项目
国家自然科学基金(61304197),重庆市教委科学技术研究项目(KJ130506),重庆市工程技术研究中心建设项目(cstc2011pt-gc3005-1),重庆邮电大学青年基金(A2012-78),重庆邮电大学博士启动项目(A2012-26)资助Supported by National Natural Science Foundation of China (61304197), Natural Science Foundation of CQJW (KJ130506), Chongqing Engineering Research Center Project (cstc2011pt-gc3005-1), Natural Science Foundation of CQUPT (A2012-78), Doctoral Start-up Funds of CQUPT (A2012-26) （61304197）
