中国机械工程 ›› 2015, Vol. 26 ›› Issue (4): 545-552.

• 车辆工程 • 上一篇    下一篇

基于LPV/H∞控制的EPS系统及其硬件在环研究

张荣芸;赵林峰;陈无畏;黄鹤   

  1. 合肥工业大学,合肥,230009
  • 出版日期:2015-02-25 发布日期:2015-02-25
  • 基金资助:
    国家自然科学基金资助项目(51075112, 51175135);安徽省自然科学基金资助项目(2013AKZR0077) 
    National Natural Science Foundation of China(No. 51075112, 51175135);
    Anhui Provincial Natural Science Foundation of China(No. 2013AKZR0077)

Research on EPS System  Based  on  LPV/H∞ Control  and  Its  Hardware  in  Loop  Test

Zhang Rongyun;Zhao Linfeng;Chen Wuwei;Huang  He   

  1. Hefei  University  of  Technology,Hefei,230009
  • Online:2015-02-25 Published:2015-02-25
  • Supported by:
     
    National Natural Science Foundation of China(No. 51075112, 51175135);
    Anhui Provincial Natural Science Foundation of China(No. 2013AKZR0077)

摘要:

建立了电动助力转向(EPS)系统和二自由度车辆的线性变参数(LPV)模型,设计了LPV/H∞鲁棒控制器,重点考虑了EPS系统本身参数摄动对其性能的影响;基于MATLAB对所采用的控制方法进行了仿真。仿真结果表明,LPV/H∞控制方法比一般的H∞方法具有更好的鲁棒性,可使转向系统的助力性能和路感得到提高,车辆的转向操纵稳定性也得到明显改善;基于LabVIEW PXI系统建立了EPS系统硬件在环试验台,在硬件在环试验台上,采用共轭梯度法实现了LPV/H∞控制方法的硬件在环试验,试验结果同样证明了所采用的控制算法的有效性。

关键词: 电动助力转向系统, 线性变参数, H&infin, 控制, 硬件在环

Abstract:

A LPV model of EPS system and two DOF vehicle mode  were built and the  LPV/H∞  robust  controller  was  designed,the parameter perturbation of EPS was considered how to impact its performance;the adopted control method was simulated based on  MATLAB software and the results indicate that the LPV/H∞  control  method has better robustness compared with general H∞ control method,which can enhance the power-assisted  ability and the road feel of the steering  system and improve the vehicle handling and stability.The  EPS hardware in loop test bench was built based on LabVIEW PXI system,the hardware in loop test of LPV/H∞ control method was realized based on conjugate gradient method,and the  results indicate that  the  adopted  control  method  is  validity.

Key words: electric power steering(EPS) system;linear parameter varying(LPV);H∞ , control;hardware in loop

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