基于LQG/LTR的电动助力转向系统控制研究

摘要

In this paper , it is aimed at the possible disturbance and the noise problems caused by the road random excitation and the torque sensor measurement in the electric power steering system to construct the vehicle dynamic model that consists of the EPS system in the application of the CarSim/Simulink co-simulation software, design the EPS control strategy based on the LQG/LTR and analyze the system stability. The result shows that the EPS system controlled by the LQG/LTR can provide the driver with the steering portability and satisfactory steering feel, improve the system stability and restrain the interfering noise in the system effectively.%针对电动助力转向系统中可能存在的路面随机激励、转矩传感器测量所引起的干扰和噪声问题，利用CarSim/Simulink联合仿真软件平台，建立具有EPS的整车动力学模型，基于LQG/LTR设计EPS的控制策略，并对系统进行稳定性分析。结果表明：基于LQG/LTR控制的EPS能使驾驶员获得助力轻便性及满意转向路感，保证系统的稳定性，能有效抑制系统的干扰噪声。