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基于混合灵敏度算法的电动转向控制系统研究陈慧鹏 陈立平 王君明


摘 要:建立电动助力转向系统的动力学模型并设计出EPS控制框图。根据该系统特性,选择基于H∞混合灵敏度的控制方法。在对S/T奇异值曲线的深入观察和研究的基础上,提出一种根据系统频域关键参数先构造闭环函数然后反推出系统控制器的方法。EPS系统频谱分析及路面干扰仿真结果表明,该方法设计的控制器简单有效,具有很好的鲁棒性能和鲁棒稳定性。
  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
  中图分类号:U463.4
  文献标志码:A
  
  文章编号:1001-3695(2010)02-0577-03
  doi:10.3969/j.issn.1001-3695.2010.02.048
  
  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. ......
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