摘要
目前客车电动助力转向系统控制器多基于方向盘转矩和车速采用专家系统或查表法产生控制信号,自适应性能较差且不能有效反映轴荷对转向力的影响.基于模糊算法原理,设计了适用于客车等载运车辆工况的循环球式动力转向系统控制方法,通过建立EPS系统动力学模型,研究了伺服系统的控制原理;制定了助力电机电流的上下层控制策略,确定了以载重量和车速信号关联助力系数k的系统控制方案;基于MATLAB/Fuzzy logic工具箱建立了Mandani型模糊控制器,相关规则曲面完全覆盖原有系统控制特性区域,助力系数k对载重量变化的跟随性良好.基于ADAMS的助力系数仿真结果表明,在车速35 km/h整车载重量由空载到满载变化时,驾驶员转向力变化相比原控制系统减少65%,最大转向力下降5 N,伺服转矩有效反映载重情况,转向操纵性能良好.
In view of the bus electric power steering （EPS） controller based on the steering torque and speed expert system or look-up table is used to produce control signal, which can not effectively reflect the current situation of the axle load and its adaptive performance is poor. Based on fuzzy algorithm principle, this study designed a control method of circulating ball type EPS which is suitable for bus. Through the establishment of the EPS system dynamics models,this paper shows the control principle of the servo system ;through the upper and lower control strategy research of the assist motor current, system control scheme is determined in which coefficient k is decided by associating load and speed;based on MATLAB Fuzzy logic toolbox Fuzzy controller is established. The relevant rules completely cover the original control area and the coefficient k follows the change of load reflect well. The simulation based on ADAMS shows that when load changes from no load to full load at 35 km/h,the driver＇s steering force reduced by 65% and the largest steering force decreased by 5 N compared to the original control system. Servo torque effectively reflecting the load change and the steering performance tuns good.
出处
《郑州大学学报（工学版）》
CAS
北大核心
2015年第3期64-67,81,共5页
Journal of Zhengzhou University（Engineering Science）
基金
国家自然科学基金资助项目(60904023)
关键词
电动助力
控制模式
模糊控制
隶属度
控制规则
electric power steering
control model
fuzzy control
membership degree
control rule
