基于dSPACE的商用车EPS控制系统开发研究-车辆工程专业论文.docxVIP

I I PAGE PAGE IV 摘 要 EPS 系统代表了现代汽车动力转向发展趋势的新方向，其“安全、节能、环保、舒 适”的特点符合时代发展的要求，并已由微型车、乘用车应用领域逐渐扩展到载重量较 大的商用车。EPS 控制系统的开发是一个复杂、漫长的过程，随着计算机仿真技术的不 断进步，通过快速控制原型平台进行 EPS 产品的快速开发，实现模型修改、标定参数、 代码自动生成与下载、实时试验等，可以大大缩短产品开发周期，降低产品开发成本， 已经成为包括 EPS 在内的汽车电子控制器研发的重要手段。 论文以某中型货车为目标车型，完成了车辆电动助力系统主要零部件的选型。针对 目标车型的结构参数与特点，建立了五自由度整车数学模型，利用 Simulink 软件建立了 EPS 仿真模型，并通过汽车操稳性仿真分析不同参数对整车性能的影响。论文深入研究 了商用车 EPS 曲线型助力特性和车辆不同运行工况下的控制策略，针对助力电机电流控 制器的设计，提出了基于目标电流的闭环 PID 控制算法，通过在常规 PID 算法中加入不 完全微分和遇限削弱积分进行改进，仿真结果表明改进后的 PID 算法可以有效的避免系 统出现大幅震荡，提高了系统的动态性能。论文利用 dSPACE 实时系统搭建了 EPS 快速 控制原型（RCP）试验平台，通过上位机软件 ControlDesk 设定试验参数，分别进行了 转矩传感器输出特性、电流阶跃响应和助力电机电流特性等台架试验，充分验证 EPS 控制算法和逻辑代码的可靠性，结果表明论文快速开发的 EPS 控制系统可以实现基本助 力作用，满足系统设计要求。 关键词：商用车 EPS，控制策略，仿真模型，快速控制原型 Abstract As a new high-tec, the Electric Power Steering (EPS) represents the future of automotive steering technology and conforms to the modern vehicle development of “Energy-saving, Environmental Protection, Safty and Comfortable”. And the applied range of EPS has expended to commercial vehicle from the initial micro-cars and passenger cars. The process of EPS development is very long and complex. Along with the advance of computer simulation technology, the rapid control prototyping platform has become an important means for research and development of the automotive electronic control system including EPS. The platform can greatly shorten the product development cycle and reduce the cost of product development through model modification, calibration parameters, automatic code generation and real-time experiment, etc. The thesis chooses the key components of EPS used for a medium truck with a capacity of 4 ton. According to the parameters and the characters of the the target model, the paper establish the mathematical model of five degrees of freedom. Based on the software of Simulink, the thesis establishes the EPS simulation model which is verified through the simulated analysis of transient and steady state performance of the vehicle.This paper deep