汽车电动助力转向系统的设计与控制技术研究
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摘要
本论文在国家科技型中小企业创新基金“基于冗余容错的汽车电动助力转向系统的研发”(05C26115101374)和四川省科技厅重点科技攻关项目“汽车电动助力转向系统(EPS)研究与开发”(03GG008-001)的资助下，以转向管柱助力式EPS系统为研究对象，借助现代控制理论、现代设计方法和计算机仿真技术，紧密结合EPS产品开发的关键技术，着重研究转向管柱助力式EPS系统的总体设计方案、控制过程的理论模型与动态性能、EPS系统的控制策略、鲁棒容错控制原理与方法、提高转向跟随性的途径和方法、分析转向回正控制方法等关键技术问题。主要研究成果如下：
(1)在对电动助力转向系统功能需求分析的基础上，提出了转向管柱助力式EPS系统的总体设计方案，应用三维CAD技术进行了系统的结构设计。通过分析EPS转向系统的组成和结构形式，确定了系统总体性能参数。详细分析了EPS所涉及的技术领域以及关键技术问题，确定了研发EPS系统的需要解决技术难点问题。
(2)通过对EPS系统组成中各部件包括助力电动机、扭矩传感器和齿轮齿条传动轴、方向盘等环节的分析，建立了EPS系统的动力学模型，并进一步变换得到了适合控制的状态方程模型。通过对初始系统模型的动态性能仿真，分析了其初始状态下的性能表现，指出了研究对象非控制状态下的动态性能非常脆弱。为此，提出了基于极点配置的状态反馈控制策略。利用状态反馈与极点配置，在实现状态反馈极点配置时，利用状态观测器或状态估计器取得系统的状态信号。讨论EPS系统模型满足一定系统性能约束条件下控制的助力特性、路感特性。
(3)在探讨状态反馈控制下电动转向系统的转向路感问题的基础上，提出了在方向盘固定时转向阻力矩作用下方向盘反向转矩(T_h)与转向阻力矩(T_1)之比就能够代表EPS系统的转向路感的评价方法。通过建立以T_1为输入，T_h为输出的状态方程，来研究当转向阻力矩(T_1)变化时，方向盘反向转矩(T_h)的变化规律，从而得出状态反馈控制下的EPS系统路感特性。
(4)分析了制约EPS系统转向跟随性提高的因素，提出了角跟随性是影响EPS跟随性能提高的主要因素的观点。采用在动态过程中PID参数模糊自整定的控制算法，将线性PID控制与模糊控制两者结合起来，组成的模糊PID控制，在动态过程中使PID参数得到改变，以便提l木本文受国家科技型中小企业创新基金(编号：05C26115101374)、四川省重点科技攻关项目(考i}号：030G008一D01)j奄助高EPS系统角跟随性控制响应速度，达到提高EPS系统转向跟随性的目的。
(5)提出了主动回正控制的概念。建立了EPS系统回正时的状态空间模型，制定了基于全状态反馈的PD控制算法。通过对提出的控制算法进行仿真验证，结果表明本文的算法可提高转向盘的回正性和稳定性。
(6)基于容错控制技术提出了针对传感器故障的、基于能观(或能检)意义上的功能冗余容错的概念并进行了证明。给出了能观意义下传感器重要度的概念和计算公式。该方法能有效地帮助我们确定EPS系统传感器配置的数量，并且该方法对一般系统传感器数量的确定具有普遍性意义。
(7)针对EPS实际系统中存在的不确定性，作者提出了采用基于鲁棒容错控制技术制定EPS系统控制策略和控制器的设计方法。分别针对传感器故障的基于状态反馈鲁棒容错控制、基于Riccati型方程的鲁棒容错控制、基于状态观测器鲁棒容错控制，应用Lyapunov稳定性理论和Lyapunov方程，研究了EPS在参数摄动的线性不确定性条件下对传感器失效时具有完整性鲁棒容错控制的规律，得出了系统完整性鲁棒容错控制的充分条件，提出了EPS的完整性鲁棒容错控制设计方法和步骤。通过数值仿真分析，研究了EPS系统容错控制器对于给定参数、在传感器故障条件下的容错控制的实现问题。
(8)将余度容错技术应用于EPS系统控制器的设计中，以两台8086CPU为主机和备份机，组成非表决式的双机冗余系统。每台CPU作为另一CPU的热备份，双机在任务级上同步运行。着重讨论了EPS控制器双机容错系统实现的比较、状态诊断、切换、同步等容错关键技术。
Supported by the national creation fund of technology &science middle-small enterprises-"the research and develop vehicle electric power steering (EPS) system based on redundant and fault-tolerant control (05C26115101374), and of Sichuan province science &technology research fund-"the research and develop vehicle electric power steering (EPS) system (03GG008-001) ", this paper researches the column-type power-aided EPS. Combining modern control theory, modern design method and computer simulation technology, the research mainly focuses upon the system total design project of the column-type power-aided EPS, and the analysis of key technologies and methods of EPS system, such as the theory model and dynamic performance of control process, the control strategy, the robust fault-tolerant control principal and method, the approach and method to improve steering follow performance, and the analysis of method of steering return-to-middle control and so on. The achievements and highlights of this research are as follows:
(1)System total design project of the column-type power-aided EPS is given and the system total structure design is performed by used of three-dimension CAD technology, based on the function requirement analysis of the EPS. The system total performance parameters is decided by analyzing the configuration and the framework form of the EPS. The paper details the main technology fields have some relationship to EPS. It also deeply analyzes the key technology problems of EPS and gives the method to solve these problems.
(2)By analyzing of the configuration parts of EPS such as the force-aided motor, the torque sensor, the gear-rack transmit shaft and steering wheel, the EPS dynamics calculous model is founded and transformed to the state space model at first. Then, the dynamic performance of this original model is simulated and discussed in details with the given parameter. A conclusion is formed that the EPS dynamic performance under un-controlled state is frangible to inherent uncertainty as well as environment disturbance. And then, a state feedback control strategy based on pole arrangement method is given. The main idea is that the EPS system is stabilized by its poles are arranged as well as its unknown state signals are deduced by used of the state observer or state estimater. Finally, both the EPS system power-aided performance and its road feeling performance are discussed when the EPS is controlled to meet some system performance restriction.
(3)Based on the discussion of the steering road feeling of EPS under the state feedback control, a estimate method to steering road feeling of EPS is given at first which defines that the steering road feeling can be represented by the ratio of the steering wheel reverse torque (T_h) and the steering resistance torque(T_l)when the T_l is in the action and the steering wheel is fixed. Then, by forming the state equation which gives the T_l as its input and the T_h as its output, the following change characteristic of the steering wheel reverse torque T_h is researched when the steering resistance torque T_l changes its value. Finally, the steering road feeling of EPS is achieved.
(4) By analyzing of the factors restricting the improvement of the steering following performance of EPS, a view that the steering angle following performance is the main factor to influence the steering following performance of EPS is pointed. Then, a PID parameter fuzzy self-adjustment control arithmetic is given which combines the linear PID control and the fuzzy control to form the fuzzy PID control arithmetic. This control arithmetic can change the PID parameter during the dynamic process in order to improve the steering angle following speed, and as a result, to improve the steering following ability of EPS.
(5)The paper gives the concept of the active return-to-middle control. A state space model of the system return-to-middle is formed and a PD control arithmetic based on the full state feedback is given. A simulation to the given control arithmetic justifies that this arithmetic can improve the steering return-to-middle performance and return stability.
(6)Using the fault-tolerant control principal and method, a concept is given and testified of function redundancy fault-tolerant control in the sense of observability (detectability). This concept is specially pointed to sensor failure. Base on that concept, a concept of the degree of the sensor importance in the sense of observability is given and its calculate formula is also given. By analyzing the simulation result, this method can effectively help to confirm the quantity of the EPS sensors. In fact, this method can also help confirm general system sensor quantity.
(7) Oriented at uncertainty attribute of actual EPS system, a control strategy and controller design method is discussed in the light of modern robust fault-tolerant control theory. Aiming to sensor failure, the variable control strategies such as the robust fault-tolerant control based on the state feedback, the robust fault-tolerant control based on the Riccati equation, the robust fault-tolerant control based on the state observer are discussed, and by using the Lyapunov stability theory and Lyapunov equation, a integrality robust fault-tolerant control rule for sensor failure is given under the condition of the EPS has some degree of the linear uncertainty of parameter fluctuation. Then, the sufficient conditions of realizing integrality robust fault-tolerant control and its design method and steps are given. Finally, a simulation of the robust fault-tolerant controller realization is given.
(8)The Fault-tolerant technology to the design of EPS controller is applied. In this controller, there are two 8086 CPUs which function as Dual systems, one 8086 is the main CPU and the other is the online backup one. Both CPU work in the task level at the same time. This paper mainly discusses the dual-system fault-tolerant system's some key technologies such as comparison, synchronization, exchange, and fault diagnosis.
(1)在对电动助力转向系统功能需求分析的基础上，提出了转向管柱助力式EPS系统的总体设计方案，应用三维CAD技术进行了系统的结构设计。通过分析EPS转向系统的组成和结构形式，确定了系统总体性能参数。详细分析了EPS所涉及的技术领域以及关键技术问题，确定了研发EPS系统的需要解决技术难点问题。
(2)通过对EPS系统组成中各部件包括助力电动机、扭矩传感器和齿轮齿条传动轴、方向盘等环节的分析，建立了EPS系统的动力学模型，并进一步变换得到了适合控制的状态方程模型。通过对初始系统模型的动态性能仿真，分析了其初始状态下的性能表现，指出了研究对象非控制状态下的动态性能非常脆弱。为此，提出了基于极点配置的状态反馈控制策略。利用状态反馈与极点配置，在实现状态反馈极点配置时，利用状态观测器或状态估计器取得系统的状态信号。讨论EPS系统模型满足一定系统性能约束条件下控制的助力特性、路感特性。
(3)在探讨状态反馈控制下电动转向系统的转向路感问题的基础上，提出了在方向盘固定时转向阻力矩作用下方向盘反向转矩(T_h)与转向阻力矩(T_1)之比就能够代表EPS系统的转向路感的评价方法。通过建立以T_1为输入，T_h为输出的状态方程，来研究当转向阻力矩(T_1)变化时，方向盘反向转矩(T_h)的变化规律，从而得出状态反馈控制下的EPS系统路感特性。
(4)分析了制约EPS系统转向跟随性提高的因素，提出了角跟随性是影响EPS跟随性能提高的主要因素的观点。采用在动态过程中PID参数模糊自整定的控制算法，将线性PID控制与模糊控制两者结合起来，组成的模糊PID控制，在动态过程中使PID参数得到改变，以便提l木本文受国家科技型中小企业创新基金(编号：05C26115101374)、四川省重点科技攻关项目(考i}号：030G008一D01)j奄助高EPS系统角跟随性控制响应速度，达到提高EPS系统转向跟随性的目的。
(5)提出了主动回正控制的概念。建立了EPS系统回正时的状态空间模型，制定了基于全状态反馈的PD控制算法。通过对提出的控制算法进行仿真验证，结果表明本文的算法可提高转向盘的回正性和稳定性。
(6)基于容错控制技术提出了针对传感器故障的、基于能观(或能检)意义上的功能冗余容错的概念并进行了证明。给出了能观意义下传感器重要度的概念和计算公式。该方法能有效地帮助我们确定EPS系统传感器配置的数量，并且该方法对一般系统传感器数量的确定具有普遍性意义。
(7)针对EPS实际系统中存在的不确定性，作者提出了采用基于鲁棒容错控制技术制定EPS系统控制策略和控制器的设计方法。分别针对传感器故障的基于状态反馈鲁棒容错控制、基于Riccati型方程的鲁棒容错控制、基于状态观测器鲁棒容错控制，应用Lyapunov稳定性理论和Lyapunov方程，研究了EPS在参数摄动的线性不确定性条件下对传感器失效时具有完整性鲁棒容错控制的规律，得出了系统完整性鲁棒容错控制的充分条件，提出了EPS的完整性鲁棒容错控制设计方法和步骤。通过数值仿真分析，研究了EPS系统容错控制器对于给定参数、在传感器故障条件下的容错控制的实现问题。
(8)将余度容错技术应用于EPS系统控制器的设计中，以两台8086CPU为主机和备份机，组成非表决式的双机冗余系统。每台CPU作为另一CPU的热备份，双机在任务级上同步运行。着重讨论了EPS控制器双机容错系统实现的比较、状态诊断、切换、同步等容错关键技术。
Supported by the national creation fund of technology &science middle-small enterprises-"the research and develop vehicle electric power steering (EPS) system based on redundant and fault-tolerant control (05C26115101374), and of Sichuan province science &technology research fund-"the research and develop vehicle electric power steering (EPS) system (03GG008-001) ", this paper researches the column-type power-aided EPS. Combining modern control theory, modern design method and computer simulation technology, the research mainly focuses upon the system total design project of the column-type power-aided EPS, and the analysis of key technologies and methods of EPS system, such as the theory model and dynamic performance of control process, the control strategy, the robust fault-tolerant control principal and method, the approach and method to improve steering follow performance, and the analysis of method of steering return-to-middle control and so on. The achievements and highlights of this research are as follows:
(1)System total design project of the column-type power-aided EPS is given and the system total structure design is performed by used of three-dimension CAD technology, based on the function requirement analysis of the EPS. The system total performance parameters is decided by analyzing the configuration and the framework form of the EPS. The paper details the main technology fields have some relationship to EPS. It also deeply analyzes the key technology problems of EPS and gives the method to solve these problems.
(2)By analyzing of the configuration parts of EPS such as the force-aided motor, the torque sensor, the gear-rack transmit shaft and steering wheel, the EPS dynamics calculous model is founded and transformed to the state space model at first. Then, the dynamic performance of this original model is simulated and discussed in details with the given parameter. A conclusion is formed that the EPS dynamic performance under un-controlled state is frangible to inherent uncertainty as well as environment disturbance. And then, a state feedback control strategy based on pole arrangement method is given. The main idea is that the EPS system is stabilized by its poles are arranged as well as its unknown state signals are deduced by used of the state observer or state estimater. Finally, both the EPS system power-aided performance and its road feeling performance are discussed when the EPS is controlled to meet some system performance restriction.
(3)Based on the discussion of the steering road feeling of EPS under the state feedback control, a estimate method to steering road feeling of EPS is given at first which defines that the steering road feeling can be represented by the ratio of the steering wheel reverse torque (T_h) and the steering resistance torque(T_l)when the T_l is in the action and the steering wheel is fixed. Then, by forming the state equation which gives the T_l as its input and the T_h as its output, the following change characteristic of the steering wheel reverse torque T_h is researched when the steering resistance torque T_l changes its value. Finally, the steering road feeling of EPS is achieved.
(4) By analyzing of the factors restricting the improvement of the steering following performance of EPS, a view that the steering angle following performance is the main factor to influence the steering following performance of EPS is pointed. Then, a PID parameter fuzzy self-adjustment control arithmetic is given which combines the linear PID control and the fuzzy control to form the fuzzy PID control arithmetic. This control arithmetic can change the PID parameter during the dynamic process in order to improve the steering angle following speed, and as a result, to improve the steering following ability of EPS.
(5)The paper gives the concept of the active return-to-middle control. A state space model of the system return-to-middle is formed and a PD control arithmetic based on the full state feedback is given. A simulation to the given control arithmetic justifies that this arithmetic can improve the steering return-to-middle performance and return stability.
(6)Using the fault-tolerant control principal and method, a concept is given and testified of function redundancy fault-tolerant control in the sense of observability (detectability). This concept is specially pointed to sensor failure. Base on that concept, a concept of the degree of the sensor importance in the sense of observability is given and its calculate formula is also given. By analyzing the simulation result, this method can effectively help to confirm the quantity of the EPS sensors. In fact, this method can also help confirm general system sensor quantity.
(7) Oriented at uncertainty attribute of actual EPS system, a control strategy and controller design method is discussed in the light of modern robust fault-tolerant control theory. Aiming to sensor failure, the variable control strategies such as the robust fault-tolerant control based on the state feedback, the robust fault-tolerant control based on the Riccati equation, the robust fault-tolerant control based on the state observer are discussed, and by using the Lyapunov stability theory and Lyapunov equation, a integrality robust fault-tolerant control rule for sensor failure is given under the condition of the EPS has some degree of the linear uncertainty of parameter fluctuation. Then, the sufficient conditions of realizing integrality robust fault-tolerant control and its design method and steps are given. Finally, a simulation of the robust fault-tolerant controller realization is given.
(8)The Fault-tolerant technology to the design of EPS controller is applied. In this controller, there are two 8086 CPUs which function as Dual systems, one 8086 is the main CPU and the other is the online backup one. Both CPU work in the task level at the same time. This paper mainly discusses the dual-system fault-tolerant system's some key technologies such as comparison, synchronization, exchange, and fault diagnosis.
引文
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