摘要
针对汽车电动助力转向(EPS)系统电机实时操控的问题,提出将自适应滑模控制算法应用于汽车EPS系统中,通过设计PID控制器、滑模控制器及自适应滑模控制器来分析验证自适应滑模控制器的优势,最后通过建立汽车转向系统数学模型,并在多变化转矩条件下进行仿真验证。仿真结果表明,PID控制器控制的实际电流与目标电流误差较大,且在不同变化的转矩下,电流跟踪性能较差;滑模控制器控制的实际电流跟随性能较好,但抖振较大;自适应滑模控制器不仅可以提高实际电流与目标电流的吻合度,还可以削弱滑模控制抖振,使汽车在不同方向盘转矩和车速下的电机电流跟踪能力得到改善。
Aiming at the problem of real-time manipulating of motor in vehicle EPS system, an adaptive sliding mode control algorithm was proposed and applied to the vehicle EPS system. The advantages of adaptive sliding mode controller were verified by the design of PID controller, sliding mode controller and adaptive sliding mode controller. Finally, the mathematical model of the vehicle steering system was established, and the simulation was carried out under the condition of varied torque. The simulation results showed that the error between the actual current and the target current was larger with the PID controller, and the current tracking performance was poor under different torque. The performance of the sliding mode controller was better, but the chattering was larger. Adaptive sliding mode controller not only could improve the degree of agreement between the actual current and the target current, but also could reduce the chattering of the sliding mode control. The motor current tracking ability of the vehicle was improved under different steering wheel torque and vehicle speed.
出处
《电机与控制应用》
北大核心
2017年第3期46-53,共8页
Electric machines & control application
基金
甘肃省自然科学基金项目(1310RJZA046)
关键词
汽车电动助力转向系统
电流跟踪
多变化转矩
自适应滑模控制
vehicle electric power steering system
current tracking
varied torque
adaptive sliding mode control
