摘要
针对汽车行驶过程中汽车EPS控制器受到转向系统参数摄动、路面干扰、传感器噪声以及大侧向风干扰等不确定性影响,导致助力电流的不精确性和影响EPS系统性能和驾驶安全的问题。建立了EPS系统数学模型,分析了EPS系统的内部不确定性以及外部干扰。用LFT线性分式变换形式表达出EPS模型,求解了不确定性M矩阵。应用H∞控制理论,根据系统性能指标设计了权函数和H∞控制器。结果表明,与PD控制进行了性能对比,稳定时间和电动机最大助力扭矩分别降低了40.00%和36.98%。在传感器噪声和路面高频力矩等外界干扰影响下,H∞控制器比PD控制器具有更好的性能鲁棒性和鲁棒稳定性,具有良好的抗干扰性能,能够满足EPS性能要求。
Electric vehicle EPS controller is easy to be affected by the parameter perturbations, road agitations, sensor noises and the lateral wind interference in the process of vehicle operation. These uncertainties affect the ac- curacy of assist current, the EPS performance and the driving safety. The mathematical model of EPS system was established including the internal uncertainty and external interference. The LFT linear fractional transform repre- senting model and M matrix with stripped uncertainty were designed. The robust H∞ controller and weight function were designed according to the H∞ control theory and performance indexes of EPS system. The comparative perform- ance with PD controller was made. The results showed that the settling time and maximum torque are reduced by 40. 00% and 36. 98, and the H∞ controller has better robustness and robust stability than the PD controller. It also has great anti-interference performance to satisfy the performance requirements of EPS system.
出处
《科学技术与工程》
北大核心
2012年第35期9591-9595,共5页
Science Technology and Engineering
基金
国家自然科学基金(50875112)
江苏省高校自然科学基金(11KJD580001)
汽车仿真与控制国家重点实验室开放基金(20111115)
江苏省道路载运工具新技术应用重点实验室开放基金(BM2008206010)
常州市高技术研究重点实验室项目(CM20113001)资助
