电动助力转向控制策略及试验研究
摘要
随着汽车制造业的迅猛发展，汽车驾驶技能越来越普及，现代车辆技术也在快速发展，驾驶者对车辆转向操作系统的安全要求也再逐步提高。近几年来，一种新的转向系统——电动助力转向系统EPS(Electric Powered Steering)逐步应用起来，其发展速度极其快，因为EPS系统除了拥有很好的操作稳定性以外，还具有节能、环保等优点。EPS系统的工作过程是不同功能的传感器将接收到的各种信号传递给电子控制单元ECU，电子控制单元ECU根据收到的各种信号，确定出合适的扭矩，然后借助驱动电路促使电动机开始运转，这样就实现了汽车的电动助力转向。目前，电动助力转向系统正在逐步取代液压动力转向系统。由于中国内地汽车电子产业相比起全球的汽车电子产业比较落后，国内在EPS系统的研究和产业化方面的进展速度很缓慢，有待进一步开发，因此加快EPS系统设计开发工作对国内汽车零部件产业发展有特别重大的意义。
本论文分析了电动助力转向系统的结构和工作原理，还对EPS系统的主要元器件进行了详细的探讨，如何选型是比较关键的问题。设计EPS系统要实现驾驶人员操纵轻便性、路感好、稳定性等目标，为了实现以上的设计需求，有四种控制策略是必不可少的，即助力控制、回正控制、阻尼控制和补偿控制。与此同时，还介绍了EPS系统的控制方式，主要有PID控制、线性二次型最优控制、鲁棒性控制、模糊控制和人工神经网络控制的控制方式。
本论文随后对电动助力转向系统进行了硬件设计和软件设计。电动助力转向系统的硬件设计包含了电子控制单元的选择、传感器信号处理电路设计、电动机功率驱动电路设计、继电器控制电路设计、故障驱动电路设计和硬件抗干扰电路设计等，各个电路都对系统有着重要影响。软件设计与硬件设计是相辅相成的关系，电动助力转向系统的控制方法和控制策略都是通过软件设计来实现的，软件设计的好与坏也会对系统功能实现起着重要作用，本论文主要设计的是电动助力转向系统软件方案和关键程序的工作流程。
台架试验对电动助力转向系统的理论研究和仿真模型验证起到重要的作用，这些数据是研发EPS产品的前提和基础。真车试验需要消耗大量的人力、物力和财力，采用台架试验获得一些基本参数和算法，为后续真车试验是很有益处的，不仅能缩短试验及研发周期，还能降低直接装车进行真车道路试验的危险性和研究成本。最后本论文介绍了电动助力转向系统台架试验的要求及试验方法，设计了EPS试验台。通过试验台进行了助力特性、回正特性、阻尼特性和可靠性的试验，试验结果都满足了电动助力转向系统的设计要求。
With the rapid development of automobile manufacturing, automobile drivingskills is becoming increasingly popular, modern vehicle technology is also developingrapidly, the driver has gradually increased the safety requirements of vehicle steeringoperating system. In recent years, a new steering system–electric power steeringsystem (EPS) is gradually developed, and its main characteristic is energy saving,environmental protection, operation stability. The system’s working process is sensorreceiving all kinds of signals to the electronic control unit, and electronic control unitto determine the appropriate torque according to the signal, and then running throughthe motor drive circuit, thereby it is achieved electric power steering. The electricpower steering system is gradually replacing the hydraulic power steering system. Asthe domestic automotive industry is less advanced than the international automotiveindustry, and industrial research in the EPS is very slow in domestic, so speed up theEPS design and development has an important significance on the development ofdomestic automotive parts industry.
The paper analyzes the structure and working principle of electric power steeringsystem, while describe the detailed discussion with the main components of thesystem. In order to make the system to meet the driver at the steering controlportability, road feel, good stability, etc., to develop the four control strategies: powercontrol, return control, damping control and compensation control. In addition, thispaper write the further study of the PID control, linear quadratic optional control,robust control, fuzzy control and artificial neural network control method.
The paper on the hardware design of electric power control system including thechoice of electronic control units, sensor signal processing circuit design, motor drivecircuit design, relay control circuit design, hardware failure-driven anti-interference circuit design. Software design and hardware design are complementary, the systemcontrol methods and control strategies are implemented through software design. Thepaper design electric power steering system software programs and major programworkflow.
Bench test play an important role in theoretical study and simulation play of theelectric power steering system, the data is to develop the prerequisite and basis forEPS products. Real car tests need to consume a large amount of manpower, materialand financial resources, using the bench to get some basic parameters and algorithms,test follow-up to a real car is very beneficial, not only can shorten the test anddevelopment cycles, but also reduce direct loading risk of a real car road tests andresearch costs. Finally, this paper describes the electric power steering system benchtest requirements and test methods, and design of EPS test bed. Testing steeringfeature, return properties, damping characteristics and reliability of the test throughthe test bed. The test results meet the electric power steering system designrequirements.
本论文分析了电动助力转向系统的结构和工作原理，还对EPS系统的主要元器件进行了详细的探讨，如何选型是比较关键的问题。设计EPS系统要实现驾驶人员操纵轻便性、路感好、稳定性等目标，为了实现以上的设计需求，有四种控制策略是必不可少的，即助力控制、回正控制、阻尼控制和补偿控制。与此同时，还介绍了EPS系统的控制方式，主要有PID控制、线性二次型最优控制、鲁棒性控制、模糊控制和人工神经网络控制的控制方式。
本论文随后对电动助力转向系统进行了硬件设计和软件设计。电动助力转向系统的硬件设计包含了电子控制单元的选择、传感器信号处理电路设计、电动机功率驱动电路设计、继电器控制电路设计、故障驱动电路设计和硬件抗干扰电路设计等，各个电路都对系统有着重要影响。软件设计与硬件设计是相辅相成的关系，电动助力转向系统的控制方法和控制策略都是通过软件设计来实现的，软件设计的好与坏也会对系统功能实现起着重要作用，本论文主要设计的是电动助力转向系统软件方案和关键程序的工作流程。
台架试验对电动助力转向系统的理论研究和仿真模型验证起到重要的作用，这些数据是研发EPS产品的前提和基础。真车试验需要消耗大量的人力、物力和财力，采用台架试验获得一些基本参数和算法，为后续真车试验是很有益处的，不仅能缩短试验及研发周期，还能降低直接装车进行真车道路试验的危险性和研究成本。最后本论文介绍了电动助力转向系统台架试验的要求及试验方法，设计了EPS试验台。通过试验台进行了助力特性、回正特性、阻尼特性和可靠性的试验，试验结果都满足了电动助力转向系统的设计要求。
With the rapid development of automobile manufacturing, automobile drivingskills is becoming increasingly popular, modern vehicle technology is also developingrapidly, the driver has gradually increased the safety requirements of vehicle steeringoperating system. In recent years, a new steering system–electric power steeringsystem (EPS) is gradually developed, and its main characteristic is energy saving,environmental protection, operation stability. The system’s working process is sensorreceiving all kinds of signals to the electronic control unit, and electronic control unitto determine the appropriate torque according to the signal, and then running throughthe motor drive circuit, thereby it is achieved electric power steering. The electricpower steering system is gradually replacing the hydraulic power steering system. Asthe domestic automotive industry is less advanced than the international automotiveindustry, and industrial research in the EPS is very slow in domestic, so speed up theEPS design and development has an important significance on the development ofdomestic automotive parts industry.
The paper analyzes the structure and working principle of electric power steeringsystem, while describe the detailed discussion with the main components of thesystem. In order to make the system to meet the driver at the steering controlportability, road feel, good stability, etc., to develop the four control strategies: powercontrol, return control, damping control and compensation control. In addition, thispaper write the further study of the PID control, linear quadratic optional control,robust control, fuzzy control and artificial neural network control method.
The paper on the hardware design of electric power control system including thechoice of electronic control units, sensor signal processing circuit design, motor drivecircuit design, relay control circuit design, hardware failure-driven anti-interference circuit design. Software design and hardware design are complementary, the systemcontrol methods and control strategies are implemented through software design. Thepaper design electric power steering system software programs and major programworkflow.
Bench test play an important role in theoretical study and simulation play of theelectric power steering system, the data is to develop the prerequisite and basis forEPS products. Real car tests need to consume a large amount of manpower, materialand financial resources, using the bench to get some basic parameters and algorithms,test follow-up to a real car is very beneficial, not only can shorten the test anddevelopment cycles, but also reduce direct loading risk of a real car road tests andresearch costs. Finally, this paper describes the electric power steering system benchtest requirements and test methods, and design of EPS test bed. Testing steeringfeature, return properties, damping characteristics and reliability of the test throughthe test bed. The test results meet the electric power steering system designrequirements.
引文
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[3]孟涛，陈慧，余卓平，李莉.电动助力转向系统的回正与主动阻尼控制策略研究[J].汽车工程，2006,(12):1025～1128.
[4]徐建平，何仁，苗立东，徐勇刚.电动助力转向系统回正控制算法研究[J].汽车工程，2004,(5):557～559.
[5]高勇，陈龙，袁传义，江浩斌，袁朝春.电动助力转向系统回正控制研究[J].农业机械学报，2007，(5):6～10.
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[8]郝梓倩,陈贻焕,李廷军,姜忠山,李政.基于人工神经网络的自动控制系统[J].现代电子技术,2006,(2):9～11.
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[10]王元聪，李伟光．基于DSP的电动助力式转向系统(EPS)控制原理及策略研究[J]. ASE自动化系统工程,2005,(2):22～24.
[11]李伟光，林颖，王元聪.汽车电动助力转向系统的硬件设计[J].华南理工大学学报(自然科学版),2006,(2):52～56.
[12]王廷宏,陆文昌.汽车电动助力转向系统控制器设计[J].计算机测量与控制,2008,(3):331～335.
[13]王野.汽车电动助力转向(EPS)系统的研究与开发[D].哈尔滨：哈尔滨理工大学，2005.
[14]化永星.电动助力转向控制单元及控制策略的研究[D].镇江：江苏大学，2009.
[15]姚慧杰.轿车电动助力转向系统的设计与仿真[D].长春：吉林大学，2008.
[16]王锋.电动助力转向系统的控制策略研究[D].镇江：江苏大学，2007.
[17]张成涛.基于DSPF2812的电动助力转向系统控制器的研制[D].成都:西华大学，2007.
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[19]冯引安.汽车电动助力转向系统建模及控制算法研究[D].重庆：重庆大学，2007.
[20]戴亦宗.基于ARM的汽车电动助力转向与悬架集成控制系统的研究[D].镇江：江苏大学，2007.
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