基于状态观测器的电动助力转向系统研究

摘要

A kinetics model of the steering system with state equation is established through analyzing and simplifying the electric power steering system,and a state observer is designed to estimate the sideslip angle which is difficult to measure through re configurating the state equation of the system.Then an EPS controller is proposed by applying optimum control theory through feedback controlling the yaw rate and the sideslip angle.From the simulation,the influence of optimum state feedback control strategy and common control on vehicle's handling stability is analyzed. Finally from the test,the correctness of the method is testified by comparing the simulation result with testing result.%通过对电动助力转向系统机构的分析和简化,建立了状态方程形式的电动助力转向系统动力学模型.由于现实中质心侧偏角难于测量,所以对系统的状态方程进行了重构,通过状态观测器对侧偏角进行估计.通过对横摆角速度和质心侧偏角进行反馈控制,并运用最优控制理论设计了EPS控制器.通过仿真,对比分析了最优状态反馈控制策略与常规控制对车辆操纵稳定性的影响.通过试验,将仿真结果与试验结果对比,验证了该方法的正确性.