基于溷合灵敏度算法的电动转向控制系统研究.pdf

第 27卷第 2期 计 算 机 应 用 研 究 V o.l 27 N o. 2 2010年 2月 Application R esearch of C om puters Feb. 20 10 * 1 1 2 , , ( 1华中科技大学 机械科学与工程学院 CAD 中心, 武汉 430074; 2湖北水利水电职业技术学院, 武汉 430070) : 建立电动助力转 系统的动力学模型并设计出 EP S控制框图根据该系统特性, 选择基于H 混合灵 敏度的控制方法在对 S T 奇异值曲线的深入观察和研究的基础上, 提出一种根据系统频域关键参数先构造闭 环函数然后反推出系统控制器的方法EP S 系统频谱分析及路面干扰仿真结果表明, 该方法设计的控制器简单 有效, 具有很好的鲁棒性能和鲁棒稳定性 : 电动助力转 ; 混合灵敏度; 回路成形; H 控制; 鲁棒控制 : U 4634 : A : 2010) doi: 10. 3969 j. issn. 100 13695. 2010. 02. 048 R esearch on control system of electr ic pow er steer ing based on m ixed sensit iv ity algor ithm 1 1 2 CHEN H u i peng , CHEN L ip ing , WANG junm ing ( 1CAD Center, S chool of M echanical Sc ience Engineering, H uazhong University of S cience T echnology, Wuhan 430074, China; 2H u ei Water R esource T echn ica l College, Wuhan 430070, China) Ab stract: Th is pape r bu ilt the dynam ic m ode l of e lectric pow er steering ( EPS) and designed the con tro l b lock diag ram of EPS. A ccording the character istic of the EPS, introduced the m ethod of loop shaping contro l based on H m ixed sensitiv ity. Based on the ana ly sis of S T curves of singu lar va lues, propo sed a k ind of contro lling me thod that the controlle r was conc luded according to the closedloop function of system construc ted by param eters in frequency dom a in. Spec tral analysis of EPS system and smi ulation w ith disturbances and param eters perturbation dem onstrate that the m ethod is concise and effective, and the contro ller has exce llent robustness and robust stab