基于功能分配的EPS与ESP集成协调控制_陈无畏

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1、网络出版时间：2015-01-0511:28网络出版地址：http://www.cnki.net/kcms/detail/11.2187.TH.20150105.1128.012.html第**卷第**期机械工程学报Vol.**No.*20**年*月JOURNALOFMECHANICALENGINEERING***20**DOI：10.3901/JME.20**.**.****基于功能分配的EPS与ESP集成协调控制陈无畏杨军汪洪波黄鹤张荣芸(合肥工业大学机械与汽车工程学院合肥230009)摘要：考虑汽车电动助力转向系统(Electricpowersteerin

2、g,EPS)与电子稳定程序(Electronicstabilityprogram,ESP)系统之间耦合动力学关系，在整车7自由度模型基础上建立高阶非线性动力学模型。分别对两系统设计局部最优控制器，对EPS设计为自回正力矩补偿的模糊自适应比例积分微分(Proportionintegrationdifferentiation,PID)控制器，同时引入助力转矩变化率负反馈实现阻尼控制，对ESP设计为变加权值的滑模控制器。为进一步提高整车全局控制性能，基于功能分配原理对两子系统控制输出量进行功能协调分配，采用模糊控制策略对EPS与ESP的功能分配系数进行优化选择。基于M

3、atlab/Simulink软件，对此功能分配协调控制系统进行仿真，并采用硬件在环系统构建功能分配的两系统试验平台，进行道路模拟试验。结果表明，提出的控制策略较子系统单独控制、不加控制时均能够取得更好的效果，明显改善汽车行驶时的操纵安全性和侧向稳定性。关键词：电动助力转向；电子稳定程序；功能分配；硬件在环中图分类号：U463CoordinatedControlofEPSandESPBasedonFunctionAllocationCHENGWuweiYANGJunWANGHongboHUANGHeZHANGRongyun(SchoolofMechanicalan

4、dAutomotiveEngineering,HefeiUniversityofTechnology,Hefei230009)Abstract：Consideringthecoupleddynamicsbetweenelectricpowersteering(EPS)andelectronicstabilityprogram(ESP),thehigh-orderandnonlineardynamicmodelisbuiltbasedona7DOFvehiclemodel.Theself-aligningmomentcompensationoffuzzyadapt

5、iveproportionintegrationdifferentiation(PID)controllerofEPSisadoptedanddrawingintonegativefeedbackofthechangerateofpowertorqueachievedampingcontrol,variableweightedvalueslidingmodecontrollerisusedforESP.Inordertofurtherimprovethevehiclewhole-regionoptimalcontrolperformance,thetwosubs

6、ystems’controlfunctionsaredistributedbasedonthefunctionallocationtodecidethefunctionallocationcoefficientbyfuzzycontrol.Theconsiderablesimulationsarecarriedoutforthecoordinatedcontrolsystem,andalsothefunctionallocationbasedonthetwosubsystems’testplatformisestablishedbyutilizinghardwa

7、re-in-loopinordertocarryoutthevehicleroadtest.Theresultsshowthatthefull-vehiclecoordinatedsystembasedontheproposedcontrolstrategycanobtainthebestcontrolperformancesthantheuncoordinatedcontrolsystemanduncontrolledsystemandimprovetheperformanceofmanipulationandlateralstabilityofthevehi

8、cleobviously