基于干扰观测器的电动助力转向系统动态面滑模控制

doi:10.16731/j.cnki.1671-3133.2017.05.015

现代制造工程 ›› 2017, Vol. 440 ›› Issue (5): 76-85.doi: 10.16731/j.cnki.1671-3133.2017.05.015

基于干扰观测器的电动助力转向系统动态面滑模控制

邹左明

四川信息职业技术学院,广元 628017

收稿日期:2016-04-25 出版日期:2017-05-20 发布日期:2018-01-08
作者简介:邹左明,工程硕士,高级工程师,主要研究方向:机械电子工程。E-mail:81366193@qq.com
基金资助:
四川省应用基础研究(重大前沿)项目(2015JY0281);四川省重大科技成果转化专项项目(2015CC0003);四川省国际科技合作与交流研究计划项目(2015HH0062);西南交通大学研究生创新实验实践项目(YC201502109)

Electric power steering system dynamic sliding control with the nonlinear disturbance observer

Zou Zuoming

Sichuan Vocational College of Information Technology,Guangyuan 628017,Sichuan,China

Received:2016-04-25 Online:2017-05-20 Published:2018-01-08

摘要/Abstract

摘要： 通过建立电动助力转向系统与汽车二自由度模型。考虑系统摩擦干扰、道路颠簸以及系统建模不完全等因素建立电动助力转向系统模型,并提出一种基于干扰观测器的电动助力转向系统动态面滑模控制。将系统的外界干扰、系统建模不完全等因素看作是一个广义的外干扰系统,对系统可观测干扰进行观测,通过参数的设计使观测误差指数收敛。对引入干扰观测器后的系统,利用Lyapunov稳定性原理逐步反演设计出动态面滑模变结构控制器,避免积分膨胀。考虑道路颠簸等随机干扰的影响,针对包含有汽车二自由度模型的电动助力转向系统进行仿真研究。仿真结果表明,该控制器对方向盘输出转矩在干扰作用下的输出稳定性很好,鲁棒性很强,同时在一定程度上也提高了系统的轻便性。

关键词: 电动助力转向系统, 非线性干扰观测器, 滑模变结构控制

Abstract: Considering electric power steering system with 2 DOFs model of vehicle.Established the model of electric power steering system take into account system of friction,bumpy roads and unmolded part of system.Then putting forward a kind of electric power steering dynamic sliding mode control system with disturbance observer.Then willing the system of interference,unmolded part of system as a general system of outside interference.Observable the interference of the system,selected the appropriate parameters of system,then making the observation error index convergence.With the system with disturbance observer.The dynamic surface sliding mode variable structure controller inversion is designed step by step by using Lyapunov stability theory.Avoided the problem of integral expansion compared with the traditional inversion controller,simulating the electric power steering system with 2 DOFs model for vehicle simulation with Matlab /Simulink with the influence of random disturbance of road bumps etc.The simulation results show that the controller under the action of the steering wheel torque in the interference of output is steady,strong robustness.Also it improves the portability of the system.

Key words: electric power steering system, nonlinear disturbance observer, dynamic sliding mode variable structure control

中图分类号:

TP29

邹左明. 基于干扰观测器的电动助力转向系统动态面滑模控制[J]. 现代制造工程, 2017, 440(5): 76-85.

Zou Zuoming. Electric power steering system dynamic sliding control with the nonlinear disturbance observer[J]. Modern Manufacturing Engineering, 2017, 440(5): 76-85.

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基于干扰观测器的电动助力转向系统动态面滑模控制

Electric power steering system dynamic sliding control with the nonlinear disturbance observer

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