硕士论文-电动助力转向系统建模与仿真研究.pdf

重庆大学
硕士学位论文
电动助力转向系统建模与仿真研究
姓名:卢娟
申请学位级别:硕士
专业:车辆工程
指导教师:秦大同
20060401
重庆大学硕士学位论文中文摘要

摘要

汽车转向系统是影响汽车操纵稳定性行驶安全性和驾驶舒适性的关键部件
在追求高效节能高舒适性和高安全性的今天电动助力转向系统 EPS 作为
一种全新的汽车动力转向系统以其节能环保更佳的操纵特性和转向路感
成为动力转向技术研究的焦点
本文结合 EPS 的结构和动力学特性建立起 EPS 的动力学模型和空间状态模
型通过对 EPS 系统控制特性的分析研究提出了 PID 和 Fuzzy-PID 的控制方法
并结合三自由度的整车模型考虑侧倾影响和 Fiala 轮胎模型建立了 EPS 仿真
模型
进行了采用 PID 及 Fuzzy-PID 两种控制策略下的 EPS 系统性能仿真分析汽
车在转向行驶时轮胎载荷的变化汽车纵横向加速度的变化以及车速转向
系刚度前后轮侧偏刚度比前后悬架侧倾角刚度比等对转向系统的影响分析
了在阶跃输入下的汽车横摆角速度频率响应结果表明相对于普通汽车装有
电动助力转向系统的汽车响应速度更快具有更好的操纵稳定性相对于普通 PID
控制采用 Fuzzy-PID 控制可使系统动态性能更好系统响应更迅速超调量更
小稳定更快

关键词电动助力转向动态特性仿真控制策略
I
重庆大学硕士学位论文英文摘要

ABSTRACT

Vehicle Steering System is a pivotal parts which has big influence on vehicle’s
control stability, drive safety fort. Electric Power Steering, is a new high-tech
which follows the development of modern automobile, has advantages both in energy
saving, environmental protecting, drive safety, making higher steering performance,
better road feeling, has shown its tremendous direction.
Based on the structure and the dynamic characteristics of electric power steering
system (EPS), the control strategy and algorithm of electric power steering system is
analyzed and the mathematical model the state space model is established. Through the
further research based on other domestic university, this paper bring forward PID
control and Fuzzy-PID control, combined with three freedom full vehicle model
(considered drift angular) and Fiala tire model, and the EPS simulation model is finally
established.
Through the model we established, the dynamic characteristics of EPS was
conducted due to disturbance of the road condition, such as the variety of the tire load
during steering, the variety of longitudinal and latitude acceleration, the factors, such
as the vehicle speed, the stiffness of the steering system which influence steering
system, is also analyzed. Also, the simulation results is carried out