摘要
以永磁转差离合器式电控液压助力转向系统(P-ECHPS)为研究对象,建立了其关键部件永磁转差离合器(PMSC)调速模型及P-ECHPS各子系统模型。针对P-ECHPS系统在转向过程中存在多种不确定性因素且要求响应速度快的特点,采用非奇异快速终端滑模与自适应控制相结合的方法,对PMSC进行调速控制,进而实现对P-ECHPS系统助力的控制。仿真分析结果表明,该方法能确保PMSC输出转速快速地跟踪理想转速,收敛速度比滑模控制和非奇异终端滑模控制分别提高了近82.9%和66.7%,具有很强的鲁棒性,较好地实现了可变助力特性。
The permanent magnet slip clutch-electronically controlled hydraulic power steering system which is referred as P- ECHPS was proposed. The speed control model of permanent magnet slip clutch （PMSC） which is the key transmission part of P-ECHPS was established and all subsystems of P- ECHPS including of mechanical systems, hydraulic systems and three degrees of freedom steering dynamics system were also established in Matlab/Simulink. The variable assist characteristic curves were designed by analyzing the requirements of steering system under different speeds. According to the variable assist characteristic curves and the model of steering pump, the ideal speed of steering pump was obtained. For P- ECHPS containing various uncertain factors during steering process, such as parameter perturbation and external disturbance, and requirement of fast response, the adaptive nonsingular fast terminal sliding mode was used to control the speed of PMSC. Further it can realize the indirect control of P - ECHPS. The controller was designed according to the adaptive nonsingular fast terminal sliding mode control strategy. Through simulation, the results show that adaptive nonsingular fast terminal sliding mode control can ensure the output speed of PMSC track to the ideal speed quickly and has great robustness. The convergence rate of adaptive nonsingular fast terminal sliding mode control respectively increased by about 82.9% and 66.7% than that of sliding mode control and nonsingular terminal sliding mode control. It can also realize variable assist characteristic accurately to meet the handling stability and energy efficiency.
出处
《农业机械学报》
EI
CAS
CSCD
北大核心
2016年第9期374-381,共8页
Transactions of the Chinese Society for Agricultural Machinery
基金
国家自然科学基金项目(51275211)
江苏省高校自然科学基金项目(14KJB580003)
江苏大学高级人才科研启动基金项目(15JDG093)
中国博士后科学基金项目(2016M590417)
江苏省科技成果转化专项基金项目(BR2015168)
关键词
永磁转差离合器
电控液压助力转向
调速模型
非奇异快速终端滑模
可变助力特性
permanent magnet slip clutch
electronically controlled hydraulic power steering
speed regulating model
nonsingular fast terminal sliding mode
variable assist characteristic
