带调节因子的E PS助力控制.pdf

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1、机床与液压Mar．2014HydromechatroniesEngineeringV01．42No．6DOI：10．3969／j．issn．1001-3881．2014．06．005ControlofEPSwithregulatingfactorYu．guangCHEN十lI2，Si—yiXIANG，Xiao—binBIANTheKeyLabofAdvancedManufactureTechniqueforAutomobileParts．MinistryofEducationofthePeople’sRep

2、ublicofChina，Chongqing400050，China；。InstituteofElectronicInformation&Automation，ChongqingUniversityofTechnology，Chongqing400050，ChinaAbstract：ItisdificulttoprovideassistanttorquereasonablyusingtheconventionalEPScontrolwhenroadadhesioncoeficientchanges．AnEP

3、Scontrolwitharegulatingfactorwasproposedtosolvetheproblemmentionedabove．Itcanadjustvehiclespeedinductancethroughtheregula‘tingfactortoachievethatassistcharacteristicchangeswiththechangesofroadadhesioncoefi-cient．Furthermore，itcanenhancetheself-adaptiveabil

4、ityofEPS．Itisapprovedthattheassis‘tanttorquecouldbeadjustedreasonablyandefectivelybytheregulatingfactor，basedonthesimulation．Keywords：EPScontrol，Regulatingfactor，Roadadhesioncoeficient，SteeringsafetyTheexternalfactorsinfluencingEPSperform—1．AnEPScontrolwit

5、hregulatingfactorancesareofthediscreteness，thenonlinearandtheuncertaincharacteristics．Amongthem，roadadhe—1．1．EPSmathematicalmodelsioncoeficientplaysanimportantrole．Roadadhe-AbrushlessDCmotorandaPWMmodulearesioneoefficientisnotconsideredonEPSstudyatusedinEP

6、Ssystem．Makethefollowingassumptionspresent．Anassistcharacteristicsolidifiedcannotwhenestablishingmathematicalmode1．Transfereffi—meettheneedofEPScontrolforroadadhesioncoem．ciencyoftorqueis100％．Therotationalinertiaofcientchange．Thegreaterthesteeringwheeltorq

7、uetorsionbarhasbeenignored．Mechanicalelementis．themoreeasilythewheelsideslipoccurswhenthestiffnessisinfiniteexceptthetorsionbar151．Itise-roadadhesioncoemcientissmall『1—3]．Specifical—quivalenttotherotationalinertiaanddampingcoeffi-ly．anaccidentwilloccurifas

8、sistanttorquecanlbecientofsteeringwheelandsteeringshaftthatthereisadjustedintimewhenroadadhesioncoemcientgoestherotationalinertiaanddampingcoefficientofthesmalleroncontinuingsteering．parts，suchassteeringwheel