CN108749915A - A kind of electric power-assisted steering apparatus design method based on sliding mode observer - Google Patents
A kind of electric power-assisted steering apparatus design method based on sliding mode observer Download PDFInfo
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- CN108749915A CN108749915A CN201810585353.0A CN201810585353A CN108749915A CN 108749915 A CN108749915 A CN 108749915A CN 201810585353 A CN201810585353 A CN 201810585353A CN 108749915 A CN108749915 A CN 108749915A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Power Steering Mechanism (AREA)
Abstract
The electric power-assisted steering apparatus design method based on sliding mode observer that the invention discloses a kind of, includes the following steps：1）EPS control systems and vehicle motion system are combined modeling；2）According to the interference of EPS system and Parameters variation, sliding mode observer is designed；3）Sliding mode observer is introduced into the EPS control systems of structure, realize the accurate estimation to vehicle-state, the model that the present invention is directed to integrated EPS system introduces sliding mode observer and dynamics of vehicle, disturbance and parameter can be influenced by various change in the present invention, estimation precision and robustness state can be improved, the validity of observer is estimated from steering torque disturbance, crosswind disturbance and velocity disturbance, ensure the stabilization of estimation structure with it is accurate, can be used in vehicle simulation design.
Description
Technical field
The present invention relates to a kind of electric booster, more particularly to a kind of electric power-assisted steering apparatus design method.
Background technology
In modern vehicle, electric boosting steering system (EPS) gradually grows up, it is compared to traditional hydraulic booster
It turns to more safe and reliable.In order to observe the state of vehicle, state observer is introduced；In order to ensure observer stability,
Consider Parameters variation and interference effect in the design of observer, the Parameters variation of the steering of vehicle and surface friction coefficient and
Speed variation is related, and this variation is nonlinear change, however, for estimating state and the method for interference is all based on greatly
Systems with Linear Observation device, therefore, this kind of observer cannot accurately reflect the variation of interference volume and parameter, this also results in observer
Result cannot ensure its stability.In order to compensate for nonlinear change amount, different control methods are had studied.For example, in order to
The influence for reducing road surface crosswind and lateral inclination, estimates wind disturbance and friction and disturbance using observer, then passes through feedback
Control compensates.
In research, in order to observe the state of vehicle, state observer is introduced；In order to ensure observer stability, seeing
It surveys and considers Parameters variation and interference effect in the design of device.However, for estimating state and the method for interference is all based on greatly line
Property observer, therefore, this kind of observer cannot accurately reflect the variation of interference volume and parameter, this also results in observer
As a result it cannot ensure its stability.In order to ensure that the safety driven, when design also need to consider other than the movement of vehicle
Steering.
Invention content
The electric power-assisted steering apparatus design method based on sliding mode observer that the object of the present invention is to provide a kind of, it is ensured that
Estimate the stabilization of structure with it is accurate.
The object of the present invention is achieved like this：A kind of electric power-assisted steering apparatus design side based on sliding mode observer
Method, which is characterized in that include the following steps：
1) EPS control systems and vehicle motion system are combined modeling；
2) according to the interference of EPS system and Parameters variation, sliding mode observer is designed；
3) sliding mode observer is introduced into the EPS control systems of structure, realizes the accurate estimation to vehicle-state.
As further limiting for the present invention, the system state equation in step 1) after modeling is：
Y (t)=Cx (t)
U (t)=TM
Wherein, state vector x and output vector y are respectively：
Wherein, beta, gamma, θh,δ,GyVehicle side slip angle, yaw rate, turning angle of steering wheel, wheel turning angle and biography are indicated respectively
Sensor output quantity, state matrix A, input matrix B and output matrix C are respectively：
Wherein：Disturbance quantity added when being all detection E1 and E2,
As further limiting for the present invention, the equation of motion of steering is：
The equation of motion of vehicle is：
The output of lateral acceleration sensor is by formulaIt obtains, VyFor speed difference, VrIt is velocity original value；
Wherein, θh,δ,Ih,Im,ThAnd KhTurning angle of steering wheel, assist motor steering angle, steering wheel inertia force are indicated respectively
Square, assist motor moment of inertia, steering moment and torsion bar rigidity, relationship is as shown in following two formula：
TH=NtTh,IM=(NtNm)2Im+IT,KH=Nt 2Kh
Wherein, NtAnd NmSteering wheel gear ratio and motor gear ratio are indicated respectively.
As further limiting for the present invention, the state equation of sliding mode observer is in step 2)：
Y (t)=CSMOx(t)
Wherein, CSMOFor non-singular matrix, state matrix is respectively：
ASMO=A, CSMO=C,
ρ (x, t, u)=k
Wherein k is positive number constant, and ρ (x, t, u) is a compensation rate that non-linear factor is adjusted using non-linear gain.
Compared with prior art, the beneficial effects of the present invention are the model that the present invention is directed to integrated EPS system introduces
Sliding mode observer and dynamics of vehicle, in the design method based on sliding mode observer proposed, disturbance and parameter can be by
To the influence of various change, estimate precision and robustness state can be improved, from steering torque disturbance, crosswind disturbance and speed
The validity of observer is estimated in degree disturbance, it is ensured that estimate the stabilization of structure with it is accurate.
Description of the drawings
The schematic diagram of electric booster system model in Fig. 1 present invention.
Fig. 2 is the schematic diagram of linear vehicle dynamic models in the present invention.
Fig. 3 is the block diagram of SMO in the present invention.
Fig. 4 is that electric power-assisted steering apparatus is practical in the present invention and estimates steering moment (V=30km/h) experimental result.
Fig. 5 is that electric power-assisted steering apparatus is practical in the present invention and estimates beam wind torque (V=30km/h) experimental result.
Specific implementation mode
With reference to specific embodiment, the present invention will be further described.
Electric power-assisted steering apparatus design method the present invention is based on sliding mode observer is：By EPS control systems and vehicle
Kinematic system is combined modeling, then, according to the interference of EPS system and Parameters variation, designs sliding mode observer, and will slide
Mould observer is introduced into the control system of structure, so as to improve electric power-assisted steering apparatus performance, is realized to vehicle-state
Accurate estimation.
One, EPS control systems and vehicle motion system modeling procedure are specially：
EPS models are combined with linear vehicle dynamical phase, wherein EPS models are as shown in Figure 1, linear vehicle power mould
For type as shown in Fig. 2, table 1 is electric booster system parameter, table 2 is the variable of electric booster system：
Table 1
Table 2
The equation of motion of steering is formula (1) and formula (2), and the equation of motion of vehicle is formula (3) and formula (4), transverse direction
The output of acceleration transducer is obtained by formula (5)：
Wherein, θh,δ,Ih,Im,THAnd KhTurning angle of steering wheel, assist motor steering angle, steering wheel inertia force are indicated respectively
Square, assist motor moment of inertia, steering moment and torsion bar rigidity, shown in relationship such as formula (6), formula (7)：
TH=NtTh,IM=(NtNm)2Im+IT,KH=Nt 2Kh (7)
Wherein, NtAnd NmSteering wheel gear ratio and assist motor gear ratio, the state equation such as formula (8) of system are indicated respectively
It is shown：
Wherein, state vector x and output vector y are respectively：
Wherein, beta, gamma, θH,δ,GyVehicle side slip angle, yaw rate, turning angle of steering wheel, wheel turning angle and biography are indicated respectively
Sensor output quantity.
State matrix A, input matrix B and output matrix C are respectively：
Wherein：
Two, the specific design procedure of sliding mode observer is：
According to the theory of Luenberger state observers, full-order state observer is devised first, in the design process,
If the amplitude of disturbance quantity be constant or frequency known to sine wave, can be contained in state variable；But
In the output matrix of this system, system is unobservable, and therefore, the observation to system mode can not accurately estimate turning for automobile
Influence to torque and beam wind these interference volumes to system；If there is variation or be interfered in systematic parameter, due to these
Error, above-mentioned Systems with Linear Observation device are then not suitable for, accordingly, it is considered to the interference to EPS system and Parameters variation, it is proposed that be capable of providing
Robustness and the sliding mode observer accurately estimated, i.e. SMO shown in state equation such as formula (9), and are adjusted using non-linear gain
Save the compensation rate of non-linear factor；
Wherein CSMOFor non-singular matrix, state matrix is：
ASMO=A, CSMO=C,
ρ (x, t, u)=k (11)
Wherein k is positive number constant, and ρ (x, t, u) is a compensation rate that non-linear factor is adjusted using non-linear gain；
It is assumed that variable element is speed and rotary inertia in the system, interference volume is the steering torque and beam wind of automobile,
The variation of beam wind disturbance, speed and rotary inertia is mainly by the first row, the second row and the 6th row of state matrix in formula (8)
It obtains, it is that the input matrix of observer is expanded to formula (10) square by fourth line in order to compensate for these non-linear variables to turn to disturbance
Row in battle array about non-linear input signal.
SMO system block diagrams are as shown in figure 3, SMO point is linear feedback and nonlinear feedback, and only in linear feedback
In situation, it is identical as the structure of full order observer, that is to say, that and SMO can need not redesign existing system, but
It is assigned in existing observer by adding a non-linear, you can improve estimation accuracy.
It is specially by the step that non-linear partial is added in existing observer：In formula (8), all multivariables have with speed
It closes, and the variation range of speed is bigger, it is bigger on precision influence, in order to inhibit this variation, can increase non-thread in SMO
Property gain, it is contemplated that shake, be infeasible in this way；
Therefore, in the proposed system, the non-linear partial of SMO is divided into the constant portion with state variable and velocity variations
Point and variable part, as shown in formula (12), wherein k be positive number constant：
ρ (t, V)=k+f (x, V) (12)
Three, emulation testing and Comparative result：
To the observer designed by the present invention, carry out respectively caused by turning to interference, crosswind disturbance and velocity variations
The emulation of Parameters variation, in simulations, using the model derived in second part, in order to ensure the stability of vehicle, power-assisted
Motor torqueIt is inputted as control, wherein KdampIt is the damping that sufficiently stable property is provided for vehicle movement
Gain.
In simulations, two kinds of full order observers (FOO) are compared, it is another one is the SMO with fixed non-linear gain
Kind is the SMO with variable non-linear gain.Assuming that the linear feedback pole of these observers with (- 100, -105, -110, -
115, -120, -125) identical, it is dry that stepping was applied to assist motor torque, steering torque and crosswind respectively at 1 second, 3 seconds and 5 seconds
It disturbs.
When speed changes to 30km/h from 100km/h, the time response of nominal value variation is as shown in Figure 4, Figure 5, for
FOO and fixed SMO, evaluated error are found in β,WithOn the other hand, the averaged power spectrum error of SMO and maximum estimation miss
Difference is respectively less than other two observers, in addition, the non-linear gain of relatively fixed SMO and it is expected SMO, fixed SMO be acquisition and
The identical estimation errors of SMO need 25 times of constant gain.
Without scrambling momentum in Fig. 4, so Systems with Linear Observation device and the obtained result of sliding mode observer are consistent, institute
It is completely overlapped with empirical curve, but disturbance quantity is added in Fig. 5, there is error in Systems with Linear Observation device, to pass through the adjusting of 4s
It could restore, and sliding mode observer does not influence after disturbance is added.
According to experimental results as can be seen that the SMO design methods proposed more than traditional Design of Observer method
Accurately.
The model that the present invention is directed to integrated EPS system introduces sliding mode observer and dynamics of vehicle.In the base proposed
In the design method of SMO, disturbance and parameter can be influenced by various change, and estimating precision and robustness state can obtain
To improvement.The validity of observer is estimated from steering torque disturbance, crosswind disturbance and velocity disturbance.Finally by imitative
Very compares and verify with full order observer.
The invention is not limited in above-described embodiments, on the basis of technical solution disclosed by the invention, the skill of this field
For art personnel according to disclosed technology contents, one can be made to some of which technical characteristic by not needing performing creative labour
A little to replace and deform, these are replaced and deformation is within the scope of the invention.
Claims (4)
1. a kind of electric power-assisted steering apparatus design method based on sliding mode observer, which is characterized in that include the following steps：
1) EPS control systems and vehicle motion system are combined modeling；
2) according to the interference of EPS system and Parameters variation, sliding mode observer is designed；
3) sliding mode observer is introduced into the EPS control systems of structure, realizes the accurate estimation to vehicle-state.
2. a kind of electric power-assisted steering apparatus design method based on sliding mode observer according to claim 1, feature
It is, the system state equation in step 1) after modeling is：
Y (t)=Cx (t)
U (t)=TM
Wherein, state vector x and output vector y are respectively：
Wherein, beta, gamma, θh,δ,GyVehicle side slip angle, yaw rate, turning angle of steering wheel, wheel turning angle and sensor are indicated respectively
Output quantity, state matrix A, input matrix B and output matrix C are respectively：
Wherein：Disturbance quantity added when being all detection E1 and E2,
3. a kind of electric power-assisted steering apparatus design method based on sliding mode observer according to claim 2, feature
It is, the equation of motion of steering is：
The equation of motion of vehicle is：
The output of lateral acceleration sensor is by formulaIt obtains, VyFor speed difference, VrIt is velocity original value；
Wherein, θh,δ,Ih,Im,ThAnd KhTurning angle of steering wheel is indicated respectively, assist motor steering angle, steering wheel moment of inertia, is helped
Force motor moment of inertia, steering moment and torsion bar rigidity, relationship is as shown in following two formula：
TH=NtTh,IM=(NtNm)2Im+IT,KH=Nt 2Kh
Wherein, NtAnd NmSteering wheel gear ratio and motor gear ratio are indicated respectively.
4. a kind of electric power-assisted steering apparatus design method based on sliding mode observer according to claim 1, feature
It is, the state equation of sliding mode observer is in step 2)：
Y (t)=CSMOx(t)
Wherein, CSMOFor non-singular matrix, state matrix is respectively：
ASMO=A, CSMO=C,
ρ (x, t, u)=k
Wherein k is positive number constant, and ρ (x, t, u) is a compensation rate that non-linear factor is adjusted using non-linear gain.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109885876A (en) * | 2019-01-15 | 2019-06-14 | 江苏大学 | A kind of sliding mode observer Real-time modeling set method for electric boosting steering system fault diagnosis |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109885876A (en) * | 2019-01-15 | 2019-06-14 | 江苏大学 | A kind of sliding mode observer Real-time modeling set method for electric boosting steering system fault diagnosis |
| CN109885876B (en) * | 2019-01-15 | 2023-10-13 | 江苏大学 | Real-time modeling method of sliding mode observer for fault diagnosis of electric power steering system |
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Application publication date: 20181106 |