无转矩传感器汽车电动助力转向系统的控制策略及概要.pdfVIP

学兔兔 汽 车 工 程 2013年(第35卷)第8期 Automotive Engineering 2013134 无转矩传感器汽车电动助力转向系统的控制策略木 熊 亮 ，刘和平 ，彭东林 (1．重庆大学，输配电装备及系统安全与新技术国家重点实验室，重庆 400044 2．重庆理工大学机械检测技术与装备教育部工程研究中心，重庆 400054) [摘要] 本文中为汽车电动助力转向(EPS)系统设计了一种无转矩传感器控制策略。首先采用拉格朗日动力 学方程建立了EPS系统的简化数学模型，并分析了其可控性和可观测性；接着提出了一种无转矩传感器EPS系统 的PID闭环助力控制策略；最后设计了转矩观测的卡尔曼滤波器和基于TMS320F28335浮点DSP的EPS台架试验 系统，并分别进行了仿真与台架试验。结果表明，采用无转矩传感器控制策略，可降低EPS系统的复杂性和成本，并 提高了系统性能。 关键词：电动助力转向；无转矩传感器控制；卡尔曼滤波器；PID控制器 A Control Strategy for Automotive Electric Power Steering System Without Torque Sensor Xiong Liang ．Liu Heping Peng Donglin 1．Chongqing University，State Key Lab ofPower Transmission Equipment＆System Security and New Technology，Chongqing 400044； 2．Engineering Research Center of Mechanical Testing Technology and Equipment，Min~try of Education，Chongqing University of Technology，Chongqing 400054 [Abstract] A control strategy without torque sensor for vehicle electric power steering(EPS)system is de- vised in this paper．Firstly a simplified mathematic model for EPS system is created by using Lagrangian dynamics equation with its controllability and observability analyzed．Then a PID closed—loop assistance control strategy for EPS system without torque sensor is proposed．Finally a Kalman filter for torque observation and an EPS bench test system based on TMS320F28335 floating-point DSP are designed，and both simulation and bench test are conduc- ted．The results show that using the control strategy proposed can reduce the cost and complexity and improve the performance of EPS s