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针对汽车在常见转向工况时转向的操纵性和安全性不足问题,提出将常见工况补偿控制策略融合到汽车EPS助力控制中,将汽车速度、汽车质量、方向盘左右晃动考虑在内,设计了高速避让、低速满载、颠簸路面3种补偿控制策略;并理论分析加入高速避让、低速满载、颠簸路面3种补偿策略后,方向盘、齿条位移和汽车横摆角速度增减值的变化;最后,通过搭建汽车EPS系统模型和二自由度汽车模型进行仿真验证。仿真结果表明,采用补偿控制策略后,汽车在高速、低速大重量及于凹凸不平的路面行驶时,助力电机目标电流的获取与汽车行驶的内外环境紧密相连,且可随行车条件的改变而适时改变,使汽车EPS系统具有了更好的操纵性和安全性。
Aiming at the problem of maneuverability and safety of the steering when the vehicle is in the common steering condition, the paper puts forward that the common working condition compensation control strategy is integrated into the EPS EPS control. The vehicle speed, the quality of the vehicle and the sway of the steering wheel are taken into account High-speed avoidance, low-speed full load, bumpy road surface three kinds of compensation control strategy; and theoretical analysis of high-speed avoidance, low speed full load, bumpy road surface after three kinds of compensation strategy, steering wheel, rack displacement and vehicle yaw rate change; By building a car EPS system model and two-degree-of-freedom car model for simulation. The simulation results show that after the compensation control strategy is adopted, the target current of the assisting motor is closely connected with the internal and external environment of the vehicle when the vehicle is traveling at high speed, low speed and heavy weight, and on the uneven road surface, and can be timely as the driving conditions change Change, make car EPS system has better maneuverability and safety.