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以虚拟轮胎与地面间的相互作用力为思路,构建由电动助力转向系统、转向阻力矩加载装置及测控系统组成的车辆电动助力转向系统(EPS)试验平台,研究车辆转向工况的准确模拟方法。设计双闭环实时控制策略,以提高力矩加载装置伺服电机的力矩输出精度,并从软件、硬件层面设计伺服电机防超程控制策略,以保障试验平台应用过程的安全性。对某乘用车原地转向工况进行EPS试验平台模拟试验,并对试验平台控制系统的实时性进行硬件在环试验,结果表明,设计开发的控制系统及其控制算法能够满足实时性、准确性要求,实现了车辆转向工况在EPS试验平台上的准确模拟,可为车辆EPS控制器的开发、调试提供良好的试验环境。
Taking the interaction between virtual tire and ground as the train of thought, this paper constructs a vehicle EPS test platform composed of electric power steering system, steering torque moment loading device and measurement and control system, and studies the accurate simulation method of vehicle steering condition . The double closed-loop real-time control strategy is designed to improve the torque output accuracy of the servo motor with torque loading device. The anti-overshoot control strategy is designed from the software and hardware level to ensure the safety of the test platform. The EPS test platform simulation test of a passenger car in situ steering condition is carried out, and the hardware in-loop test is carried out on the real-time performance of the control system of the test platform. The results show that the designed control system and its control algorithm can meet the requirements of real-time and accuracy It realizes the accurate simulation of vehicle steering conditions on EPS test platform, which can provide a good test environment for the development and debugging of vehicle EPS controller.