基于相位补偿的电动助力转向系统控制方法

苗立东; 何仁

基于相位补偿的电动助力转向系统控制方法

苗立东^1,,
何仁²

1.
山东理工大学交通与车辆工程学院，山东淄博 255049
2.
江苏大学汽车与交通工程学院院，江苏镇江 212013

基金项目:

江苏省六大人才高峰计划项目 E-2002012

山东理工大学科研基金项目 2006KJM32

详细信息

作者简介:
苗立东(1974-), 男, 山东淄博人, 山东理工大学讲师, 工学博士, 从事汽车机电一体化研究

中图分类号: U463.4
计量
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- HTML全文浏览量: 84
- PDF下载量: 312
- 被引次数: 0
出版历程
- 收稿日期: 2006-07-23
- 刊出日期: 2007-02-25

Control method of electric power steering system based on phase compensation

Miao Li-dong^1
,,
He Ren²

1.
School of Transportation and Vehicle Engineering, Shandong University of Technology, Zibo 255049, Shandong, China
2.
School of Automotive and Traffic Engineering, Jiangsu University, Zhenjiang 212013, Jiangsu, China

More Information

Author Bio:
Miao Li-dong(1974-), male, PhD, lecturer, +86-533-2786081, miaold@sdut.edu.cn

摘要

摘要: 采用动力学与控制理论, 研究了具有3个集中质量的电动助力转向系统的物理和数学模型, 建立了总体结构图, 在对外环特性进行分析的基础上, 对总体结构图进行等效变换, 根据系统要求对控制系统进行了设计, 研究了控制对象的传递函数、控制系统的结构图、开环系统的Bode图、Nyquist图以及系统的稳定性, 并进行了台架试验。研究发现控制系统的结构图可以表示为内、外两环结构, 内环包含了反电动势的反馈通道, 采用快速比例积分(PI)控制的内环, 可以忽略反电动势, 没有进行相位补偿的系统幅值裕度和相位裕度约为负值, 稳定性较差, 而进行相位补偿后系统的稳定性较好。结果表明在系统低频共振频率范围内采用超前校正, 提供相位补偿是解决电动助力转向系统振动和稳定性的有效方法。
- 车辆工程 /
- 电动助力转向 /
- Bode图 /
- 相位补偿 /
- 控制
Abstract: The physical and mathematic model of electric power steering system with three lumped masses was studied by dynamics analysis and control theory, and the general block-diagram of the system was established; the outer loop property of the system was analyzed, then the general block-diagram was transformed into its equivalent counterpart, and steering control system was designed according to the system requirement; the transfer function of controlled plant, the block-eiagraph, Bode plot and Nyquist plot of the open loop system and the stability of the system were studied, and the testbed test of the system was carried out. It is pointed that the block-diagraph may be expressed by a two-loop diagraph with an inner loop including a feedback channel of back electromotive force and an outer one, back electromotive force may be ignored when a fast proportional-integral(PI) controller in inner loop was used, the gain and phase margin of the system are negative without phase compensation, the system is unstable, while phase compensation may stabilize the system. Analysis result indicates that a lead corrector with phase compensation around low frequency resonance is an effective method to stabilize the system and restrain the system vibration.
- vehicle engineering /
- electric power steering /
- Bode graph /
- phase compensation /
- control

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图 1 电动助力转向系统机械部分模型

Figure 1. Model of mechanical part of EPS system

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图 2 电动助力转向系统总体结构

Figure 2. General structure of EPS system

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图 3 电流环结构

Figure 3. Structure of current loop

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图 4 分解结构

Figure 4. Decomposition structure

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图 5 内、外两环结构

Figure 5. Structures of inner loop and outer loop

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图 6 内环前向通道

Figure 6. Forward channel of inner loop

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图 7 内环闭环

Figure 7. Closed-loop of inner loop

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图 8 外环近似结构

Figure 8. Approximate structure of outer loop

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图 9 外环开环

Figure 9. Open-loop of outer loop

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图 10 开环系统的Nyquist

Figure 10. Nyquist of open-loop

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图 11 超前校正后的Bode图

Figure 11. Bode chart with lead correction

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图 12 无相位补偿的EPS系统试验结果

Figure 12. Test result of EPS system without phase compensation

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图 13 具有相位补偿的EPS系统试验结果

Figure 13. Test result of EPS system with phase compensation

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表 1 电动助力转向系统参数

Table 1. Parameters of EPS system

参数名称	代号	数值
转向盘的转动惯量/(kg·m²)	I_s	0.029
转向盘转动的运动阻尼系数/(N·m·s·rad^-1)	C_se	0.023
转向盘转动的变形阻尼系数/(N·m·s·rad^-1)	C_s	0.023
输出轴的运动阻尼系数/(N·m·s·rad^-1)	C_ce	0.023
输出轴的转动惯量/(kg·m²)	I_c	0.000 19
转向盘到减速机构蜗轮处的刚度/(N·m·rad^-1)	K_s	135
电动机部分的转动惯量/(kg·m²)	I_m	0.000 19
电动机部分转动的运动阻尼系数/(N·m·s·rad^-1)	C_me	0.000 092 8
电动机部分转动的变形阻尼系数/(N·m·s·rad^-1)	C_m	0.000 928
减速机构的刚度/(N·m·rad^-1)	K_m	3.02
电动机的反电动势常数/(V·s·rad^-1)	K_e	0.050 6
电动机回路的总电阻/Ω	R	0.345
电动机回路的总电感/μH	L	238

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参考文献(10)

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