关键词:电动助力转向; 混合灵敏度; 回路成形; H∞控制; 鲁棒控制
Research on control system of electric power steering based on mixed sensitivity algorithm
CHEN Hui-peng1, CHEN Li-ping1, WANG jun-ming2
(1.CAD Center, School of Mechanical Science & Engineering, Huazhong University of Science & Technology, Wuhan 430074, China; 2.Hubei Water Resource Technical College, Wuhan 430070, China)
Abstract:This paper built the dynamic model of electric power steering (EPS) and designed the control block diagram of EPS. According the characteristic of the EPS, introduced the method of loop shaping control based on H∞ mixed sensitivity. Based on the analysis of S/T curves of singular values, proposed a kind of controlling method that the controller was concluded according to the closed-loop function of system constructed by parameters in frequency domain. Spectral analysis of EPS system and simulation with disturbances and parameters perturbation demonstrate that the method is concise and effective, and the controller has excellent robustness and robust stability. ......