机械科学与技术2017，Vol.36Issue(5)：761-766,6.DOI:10.13433/j.cnki.1003-8728.2017.0517
电动助力转向系统回正补偿控制研究
A Study on Return-to-center Compensation Control for Electric Power Steering System
摘要
Abstract
The alignment torque changes significantly on different road,which leads to insufficient/overshoot return ability.Return-to-center control based on the estimation of actual aligning moment is discussed to overcome the negative effects of adhesion coefficients on return ability.The dynamic model of electric power steering system (EPS) was established.The ideal aligning moment is determined according to speed and steering wheel angle.The motor speed is estimated based on motor model with variable resistance and back-electromotive force (EMF) coefficient,and the actual aligning moment is obtained from the vehicle dynamics equations with motor current,estimated motor angular velocity and measured steering torque.With the actual and ideal aligning moment,the return-to-center compensation is implemented by a segmented PID controller.A hardware-in-loop test bench for EPS was established to validate the proposed algorithm.The results show that the vehicle equipped with the presented EPS has a good steering wheel return ability on different road surfaces.关键词
电动助力转向系统/电机转速估计/回正力/回正控制Key words
aligning moment/return-to-center control/PID control分类
交通工程引用本文复制引用
刘俊,黄智..电动助力转向系统回正补偿控制研究[J].机械科学与技术,2017,36(5):761-766,6.基金项目
湖南自然科学基金项目(13JJ4033)资助 （13JJ4033）
