电动助力与主动转向组合系统的控制研究
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摘要
主动转向系统（AFS）是未来汽车自动驾驶、行驶稳定性控制和舒适性操纵（变传动比操纵）的必然发展需求。目前，基于安全性考虑，采用人工操纵与电动叠加式组合控制转向的AFS已经投入实用。在转向助力方面，电动助力（EPS）已经得到迅速发展，成为小型轿车的首选。随着AFS的逐步投入应用和向中低档车的转移，将AFS与EPS组合则会成为未来需求，本文就是在这样的背景下，对AFS进行研究，对AFS+EPS的控制方法进行了研究。
EPS和AFS是两个独立系统，将两者组合必然会产生相互影响，在研究方法上本文首先对各自独立的EPS与AFS系统进行研究，然后在此基础上再进行叠加组合，并根据组合后的相互影响修改控制模型，改善控制策略和算法。AFS可用于改善操作舒适性和稳定性的变传动比操作、行驶稳定性主动控制、自动驾驶等方面，本文所研究的AFS则主要是根据变传动比操作要求开发控制系统。
本文的主要研究内容和结果概括如下：
一、对独立的EPS系统进行了控制研究，设计了最大助力特性曲线，根据在试验台架上测得的0-95km/h车速的折线形助力特性曲线，得出了助力特性曲面图。在建立电动助力转向系统和助力电机数学模型的基础上，采用电流闭环控制策略（包括回正控制策略），进行了EPS典型工况的仿真和实车试验研究，试验表明装载了电动助力转向系统的实车可以有效地减轻驾驶员负担，提高了转向轻便性和回正性，为EPS+AFS组合系统的控制研究提供了基础。
二、研发了具有自主知识产权的新型汽车主动转向传动装置，通过与宝马主动转向传动装置的对比分析表明：本研发新型装置具有传动精度高（提高4倍）、体积小（减小60%以上）、效率高（提高20%）的综合性能。
三、研究并提出了基于操纵舒适性和操控稳定性的汽车行驶变传动比控制模型。
四、对独立的AFS系统进行了控制方法研究，基于AFS系统的操纵性能要求，设计了一种内外环双层结构的控制器，提出了针对助转角电机的位置速度电流三位一体的闭环控制方法。在设计了主动转向系统软硬件的基础上，开发了控制程序，进行了仿真和试验台试验研究，试验表明该主动转向系统满足了低速转向轻便，高速转向精准的要求，提高了整车的可控性，为EPS+AFS组合系统的控制研究提供了基础。
五、设计开发了电动助力与主动转向组合系统试验台。通过对EPS+AFS简单组合系统的仿真，并与独立系统的特性进行了对比，分析了EPS与AFS之间的相互影响（EPS对AFS几乎无影响），针对组合系统中AFS干预时整个转向系统的转向操纵力矩波动及左右转向时力矩差异变大的问题，对EPS+AFS组合系统的控制策略与算法进行了修改，采用力矩闭环控制策略和电流转速双闭环回正控制策略，使用专家PID算法和滑模变结构相结合的控制算法，进行了仿真与在环台架试验。试验表明组合系统优化后的力矩闭环控制策略和电流转速双闭环回正控制策略大大加强了整个转向系统的抗干扰能力，改善了转向盘转动时的平滑性及左右对称性；组合系统在有效减轻驾驶员操作负担的同时，也有效地改善了整车的转向特性，提高了汽车的操纵稳定性和主动安全性。
六、在建立整车7自由度动力学模型的基础上，建立了Adams与matlab的联合仿真模型，进行了仿真试验验证，并与传统机械转向系统的整车动力学特性进行对比。结果表明，本文研发的新型组合转向系统的控制系统能使汽车在不同工况下的横摆角速度增益值基本保持定值，满足了低速轻便、高速稳定的要求。
AFS is the inevitable development demand of automatic-driving, stability control andcomfortable control (variable ratio control) in the future. Based on the consideration ofsecurity, AFS which is adopted the combination of manual control and electromotion to steerhas been used at present. In the area of assisted steering, EPS has developed rapidly andbecome the first choice of small car. Along with the gradual application and transfer tomedium-low-grade automobile of AFS, combination of AFS and EPS will become thedemand of future. Based on this background, the paper did research on AFS, and thecombination control method of AFS add EPS.
Both EPS and AFS are independent system, combining them will make an effect oneach other. First, the paper studied EPS system and AFS system dividedly, and then stackedthem and amended the control model according to the infection by each other. AFS can beused to the area of variable ratio operation, active control of driving stability and automaticdrive which will improve cars’ comfortable control and stability. AFS in this paper mainlydeveloped control system according to the demand of variable ratio operation.
The main research and achievement of this paper are as follow:
(1) The individual EPS system was researched and current colsed-loop control strategiesincluding returnability control algorithm was adopted. Control program was empoldered andassistance characteristics curve was designed and tested on the test-bed in the range of0km/hto95km/h. Moreover, real vehicle experiment of EPS was studied under typical operationcondition. The experiment shows that car with EPS can reduce the burden of drivereffectively and improve steering handiness and returnability. It provided foundation of EPSand AFS combination system’s control model.
(2) New AFS system with independent intellectual property was researched anddeveloped. Compared with BMW active steering system, the new AFS system has anintegrative performance with high transmission precision (increase4times), small volume(reduce more than60%) and high efficiency (improve20%).
(3) Variable ratio control model which is based on handling comfort and stability wasresearched and presented.
(4) The individual AFS system was researched. And according to the demand of AFS’scontrol performance,a double loop controller was designed. And then through adoptingcolsed-loop control method to control AFS motor, a feedback control strategy velocity was、 presented. Moreover, AFS control program was empoldered, simulated and experimented ontest-bed. The experiment shows that the AFS system comes to the meet with handiness in lowspeed and steering precise in high speed. It provided foundation of EPS and AFS combinationsystem’s control model.
(5) EPS and AFS combination system was researched by setting up simulation about thetwo stacking independent system. And then comparing with each individual system oncharacteristic, the effect between EPS and AFS was analyzed. Aiming at the problem thatsteering torque of whole system is fluctuating and the torque’s difference between turning leftand right is enlarging during AFS’s intervention, control method about the combinationsystem were studied(EPS has seldom influence on AFS). Furthermore, the control method andstrategy were amended and trimmed and torque colsed-loop control strategy includingreturnability control algorithm was adopted. In addition, sliding mode control algorithm wasused and combination system control software and hardware were empoldered and tested onthe Hardware In-the-loop test bench. The test shows that the combination system can not onlyreduce the burden of driver effectively, but also improve the steering characteristic of thewhole car and enhance control stability and security.
(6) Based on establishment of whole car’s7DOF dynamic model, Adams and matlabco-simulation model were set up and verified by simulative experiment. Then, it wascompared with mechanical steering system. The experiment shows that new compositesystem can keep the yaw velocity gain stable in different working condition andcommendably satisfy the request of handiness in low speed and stability in high speed.
EPS和AFS是两个独立系统，将两者组合必然会产生相互影响，在研究方法上本文首先对各自独立的EPS与AFS系统进行研究，然后在此基础上再进行叠加组合，并根据组合后的相互影响修改控制模型，改善控制策略和算法。AFS可用于改善操作舒适性和稳定性的变传动比操作、行驶稳定性主动控制、自动驾驶等方面，本文所研究的AFS则主要是根据变传动比操作要求开发控制系统。
本文的主要研究内容和结果概括如下：
一、对独立的EPS系统进行了控制研究，设计了最大助力特性曲线，根据在试验台架上测得的0-95km/h车速的折线形助力特性曲线，得出了助力特性曲面图。在建立电动助力转向系统和助力电机数学模型的基础上，采用电流闭环控制策略（包括回正控制策略），进行了EPS典型工况的仿真和实车试验研究，试验表明装载了电动助力转向系统的实车可以有效地减轻驾驶员负担，提高了转向轻便性和回正性，为EPS+AFS组合系统的控制研究提供了基础。
二、研发了具有自主知识产权的新型汽车主动转向传动装置，通过与宝马主动转向传动装置的对比分析表明：本研发新型装置具有传动精度高（提高4倍）、体积小（减小60%以上）、效率高（提高20%）的综合性能。
三、研究并提出了基于操纵舒适性和操控稳定性的汽车行驶变传动比控制模型。
四、对独立的AFS系统进行了控制方法研究，基于AFS系统的操纵性能要求，设计了一种内外环双层结构的控制器，提出了针对助转角电机的位置速度电流三位一体的闭环控制方法。在设计了主动转向系统软硬件的基础上，开发了控制程序，进行了仿真和试验台试验研究，试验表明该主动转向系统满足了低速转向轻便，高速转向精准的要求，提高了整车的可控性，为EPS+AFS组合系统的控制研究提供了基础。
五、设计开发了电动助力与主动转向组合系统试验台。通过对EPS+AFS简单组合系统的仿真，并与独立系统的特性进行了对比，分析了EPS与AFS之间的相互影响（EPS对AFS几乎无影响），针对组合系统中AFS干预时整个转向系统的转向操纵力矩波动及左右转向时力矩差异变大的问题，对EPS+AFS组合系统的控制策略与算法进行了修改，采用力矩闭环控制策略和电流转速双闭环回正控制策略，使用专家PID算法和滑模变结构相结合的控制算法，进行了仿真与在环台架试验。试验表明组合系统优化后的力矩闭环控制策略和电流转速双闭环回正控制策略大大加强了整个转向系统的抗干扰能力，改善了转向盘转动时的平滑性及左右对称性；组合系统在有效减轻驾驶员操作负担的同时，也有效地改善了整车的转向特性，提高了汽车的操纵稳定性和主动安全性。
六、在建立整车7自由度动力学模型的基础上，建立了Adams与matlab的联合仿真模型，进行了仿真试验验证，并与传统机械转向系统的整车动力学特性进行对比。结果表明，本文研发的新型组合转向系统的控制系统能使汽车在不同工况下的横摆角速度增益值基本保持定值，满足了低速轻便、高速稳定的要求。
AFS is the inevitable development demand of automatic-driving, stability control andcomfortable control (variable ratio control) in the future. Based on the consideration ofsecurity, AFS which is adopted the combination of manual control and electromotion to steerhas been used at present. In the area of assisted steering, EPS has developed rapidly andbecome the first choice of small car. Along with the gradual application and transfer tomedium-low-grade automobile of AFS, combination of AFS and EPS will become thedemand of future. Based on this background, the paper did research on AFS, and thecombination control method of AFS add EPS.
Both EPS and AFS are independent system, combining them will make an effect oneach other. First, the paper studied EPS system and AFS system dividedly, and then stackedthem and amended the control model according to the infection by each other. AFS can beused to the area of variable ratio operation, active control of driving stability and automaticdrive which will improve cars’ comfortable control and stability. AFS in this paper mainlydeveloped control system according to the demand of variable ratio operation.
The main research and achievement of this paper are as follow:
(1) The individual EPS system was researched and current colsed-loop control strategiesincluding returnability control algorithm was adopted. Control program was empoldered andassistance characteristics curve was designed and tested on the test-bed in the range of0km/hto95km/h. Moreover, real vehicle experiment of EPS was studied under typical operationcondition. The experiment shows that car with EPS can reduce the burden of drivereffectively and improve steering handiness and returnability. It provided foundation of EPSand AFS combination system’s control model.
(2) New AFS system with independent intellectual property was researched anddeveloped. Compared with BMW active steering system, the new AFS system has anintegrative performance with high transmission precision (increase4times), small volume(reduce more than60%) and high efficiency (improve20%).
(3) Variable ratio control model which is based on handling comfort and stability wasresearched and presented.
(4) The individual AFS system was researched. And according to the demand of AFS’scontrol performance,a double loop controller was designed. And then through adoptingcolsed-loop control method to control AFS motor, a feedback control strategy velocity was、 presented. Moreover, AFS control program was empoldered, simulated and experimented ontest-bed. The experiment shows that the AFS system comes to the meet with handiness in lowspeed and steering precise in high speed. It provided foundation of EPS and AFS combinationsystem’s control model.
(5) EPS and AFS combination system was researched by setting up simulation about thetwo stacking independent system. And then comparing with each individual system oncharacteristic, the effect between EPS and AFS was analyzed. Aiming at the problem thatsteering torque of whole system is fluctuating and the torque’s difference between turning leftand right is enlarging during AFS’s intervention, control method about the combinationsystem were studied(EPS has seldom influence on AFS). Furthermore, the control method andstrategy were amended and trimmed and torque colsed-loop control strategy includingreturnability control algorithm was adopted. In addition, sliding mode control algorithm wasused and combination system control software and hardware were empoldered and tested onthe Hardware In-the-loop test bench. The test shows that the combination system can not onlyreduce the burden of driver effectively, but also improve the steering characteristic of thewhole car and enhance control stability and security.
(6) Based on establishment of whole car’s7DOF dynamic model, Adams and matlabco-simulation model were set up and verified by simulative experiment. Then, it wascompared with mechanical steering system. The experiment shows that new compositesystem can keep the yaw velocity gain stable in different working condition andcommendably satisfy the request of handiness in low speed and stability in high speed.
引文
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