Control System Design of Electric Power Steering for a Full Vehicle Model with Active Stabilizer
Control System Design of Electric Power Steering for a Full Vehicle Model with Active Stabilizer
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DOI：
10.1299/jsdd.5.789
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发表时间：
2010-08
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影响因子：
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通讯作者：
Keiichi Yamamoto;H. Nishimura
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文献类型：
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作者：
Keiichi Yamamoto;H. Nishimura
为了实现驾驶员在转向或颠簸路面行驶时的舒适转向感，设计了一种带有主动稳定器的汽车电动助力转向（EPS）控制系统。尽管常规EPS的控制系统通常被设计为获得与使用液压动力转向（HPS）的舒适转向感觉类似的舒适转向感觉，但是在不平的道路上可能无法实现转向感觉。我们提出了一种设计策略的EPS的控制系统中考虑到主动稳定器，以避免副作用的转向系统的前轮胎的反作用力，由于侧倾刚度控制的主动稳定器。根据该设计策略，考虑到主动稳定器，通过应用与转向轴上的车速和传感器扭矩两者相对应的增益调度控制来设计和调整EPS的控制器以实现类似于HPS的转向感觉，其被设计成不仅减小车体的侧倾运动，而且抑制通过转向轴作用在转向轴上的恢复扭矩，前轮胎在崎岖的道路上行驶。结果表明，所设计的EPS控制系统能够有效地实现驾驶员转向过程中类似于HPS的转向感觉，并抑制了颠簸路面行驶过程中转向盘的旋转振动。
In this paper, to realize the comfortable steering feeling during driver's steering or a rough road running, we design a control system of an electric power steering (EPS) for a vehicle with an active stabilizer. Although control systems of the conventional EPS are designed generally to obtain the comfortable steering feeling similar to that using a hydraulic power steering (HPS), the steering feeling might not be realized on a rough road. We propose a design strategy for the control system of the EPS in consideration of the active stabilizer to avoid side effects to the steering system by the reaction force of the front tire due to roll stiffness control for the active stabilizer. According to the design strategy, a controller of the EPS is designed and tuned to realize the HPS-like steering feeling by applying a gain-scheduled control corresponding to both a vehicle speed and a sensor torque on a steering axis in consideration of the active stabilizer, which is designed so as to not only reduce the roll motion of a vehicle body but also suppress the restoring torque which acts on the steering axis through the front tire during the rough road running. It is verified that the control system of the EPS designed is effective to realize the HPS-like steering feeling during the driver's steering and suppress the rotational vibration of a steering wheel during the rough road running.