Modeling and Control of Vehicle Electric Power Steering and Active Suspension System Based on Multibody Dynamics and Rule-based Coordination

China Mechanical Engineering ›› 2010, Vol. 21 ›› Issue (14): 1709-1714.

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Modeling and Control of Vehicle Electric Power Steering and Active Suspension System Based on Multibody Dynamics and Rule-based Coordination

Wang Qidong;Qin Weihua;Chen Wuwei

Hefei University of Technology,Hefei,230009

Online:2010-07-27 Published:2010-09-19
Supported by:

National Natural Science Foundation of China（No. 50575064）;
Specialized Research Fund for the Doctoral Program of Higher Education of China（No. 20060359005）

基于多刚体动力学和规则协调的汽车EPS与ASS建模与控制

王其东;秦炜华;陈无畏

合肥工业大学,合肥,230009

基金资助:
国家自然科学基金资助项目(50575064)；高等学校博士学科点专项科研基金资助项目(20060359005)
National Natural Science Foundation of China（No. 50575064）;
Specialized Research Fund for the Doctoral Program of Higher Education of China（No. 20060359005）

Abstract

Abstract:

The multibody model of a full vehicle which equipped the

EPS system and the ASS was set up based on multibody dynamics theory.Also an EPS,ASS and rule-based central controller which supervised and coordinated the subsystems were designed based on the motion coupling relationships between steering and suspension systems. Under Matlab,the simulations of vehicle ride comfort and maneuverability were carried out. The results show that the use of the multibody model for the integrated control research of chassis is convenient and viable,also the control scheme can effectively improve the ride comfort and maneuverability.

Key words: multibody dynamics, electric power steering(EPS), active suspension system(ASS), central controller

摘要：

应用多刚体系统动力学理论,建立了装备电动助力转向和主动悬架系统的整车多刚体动力学模型。并根据转向和悬架两个系统之间的运动耦合关系,分别设计了EPS和ASS各子控制器,以及基于规则的中央控制器,对子系统监督和协调。在MATLAB下对整车的平顺性和操纵稳定性进行了仿真,结果表明多刚体模型运用在汽车底盘集成控制研究中是方便可行的;采用的控制策略有效改善了车辆的平顺性和操纵稳定性。

关键词:

多体动力学, 电动助力转向, 主动悬架系统, 中央控制器

CLC Number:

U461.6

WANG Ji-Dong, QIN Wei-Hua, CHEN Mo-Wei.

Modeling and Control of Vehicle Electric Power Steering and Active Suspension System Based on Multibody Dynamics and Rule-based Coordination

[J]. China Mechanical Engineering, 2010, 21(14): 1709-1714.

王其东, 秦炜华, 陈无畏.

基于多刚体动力学和规则协调的汽车EPS与ASS建模与控制

[J]. 中国机械工程, 2010, 21(14): 1709-1714.

[1]	ZHAO Linfeng1;CHEN Jiushan2;CHEN Wuwei1;ZHANG Rongyun3. Torque Ripple Suppression of PMSM Applied for EPS Based on Motor Rotation Angle's ILC [J]. China Mechanical Engineering, 2017, 28(24): 2906-2913.
[2]	ZHAO Linfeng, XU Lei, CHEN Wuwei. Path-tracking of APS Based on ADRC [J]. China Mechanical Engineering, 2017, 28(08): 966-973.
[3]	Zhang Rongyun, Zhao Linfeng, Chen Wuwei, Huang He. Research on EPS System Based on LPV/H∞ Control and Its Hardware in Loop Test [J]. China Mechanical Engineering, 2015, 26(4): 545-552.
[4]	Zhou Bing, Fan Lu, Xu Meng, Hu Xiaolan. Integrated Control of EPS and AFS to Reduce Steering Vibration Derived from Road Impact [J]. China Mechanical Engineering, 2014, 25(22): 3114-3118.
[5]	WEI Jian-Wei-1, 2, WEI Min-Xiang-1, LI Yu-Fang-1. Evaluation and Correction Control Strategy of Assistant Torque for EPS with Interference of Active Steering [J]. China Mechanical Engineering, 2012, 23(15): 1873-1876.
[6]	Liu Jun;Chen Wuwei. Study on EPS Using Sugeno-Fuzzy and PID Filter Control  [J]. J4, 2009, 20(14): 0-16391642.
[7]	Chen Long;Zhao Jingbo;Cui Xiaoli; Jiang Haobin;Chen Dayu. Rational Matching Analysis of Automobile EPS Assist Motor [J]. J4, 2008, 19(18): 0-2240.

Modeling and Control of Vehicle Electric Power Steering and Active Suspension System Based on Multibody Dynamics and Rule-based Coordination

基于多刚体动力学和规则协调的汽车EPS与ASS建模与控制

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