汽車電動助力轉向模糊控制器研究
發(fā)布時間：2018-10-18 14:58
【摘要】：在現代汽車工業(yè)中,衡量汽車工業(yè)水平的標志,除了機械結構的改進,汽車電子化的程度被看作是另一個重要標志,其中取代傳統(tǒng)液壓助力轉向系統(tǒng)的電動助力轉向(EPS,Electric Power Steering)系統(tǒng),是汽車電子化在助力轉向領域的重要應用,市場前景廣闊。根據中國汽車工業(yè)協(xié)會的報告,2007年到2012年,我國電動助力轉向器的銷售額從62萬套增加到600萬套,市場占有率不斷擴大,但本土生產市場僅占9%,其余均被外資或合資企業(yè)占領,因此開發(fā)出具有自主知識產權的EPS系統(tǒng),對我國EPS行業(yè)的發(fā)展意義非凡。本項目是四川省科技廳基礎研究項目,以轉向軸式EPS為研究對象,以LPC922FN單片機為控制核心,以永磁式直流電動機為助力裝置,設計了EPS控制器,可靠性高、成本低廉。首先分析了EPS系統(tǒng)的工作原理及助力函數曲線特點,針對傳統(tǒng)PID控制的局限,將模糊控制算法應用到EPS中,并建立了輸入輸出參數的隸屬度函數和相應的控制規(guī)則;然后結合轉向軸式EPS系統(tǒng)的動力學方程,在MATLAB/SIMULINK環(huán)境下建立了系統(tǒng)模型,仿真驗證算法的性能;硬件部分,設計確定了各主要電路的實現方案并完成了各功能模塊的設計,軟件部分,編寫實現了系統(tǒng)程序總體流程及各個軟件模塊;最后完成了系統(tǒng)軟硬件聯合調試,進行了大量測試實驗,包括功能性實驗和性能實驗,基本完成了設計指標,實現了以方向盤輸入力矩、轉向軸旋轉角度和車速為輸入信號,以電機助力電流為輸出信號的助力轉向控制器的設計。本文重點在于將模糊控制應用到汽車助力轉向器的開發(fā),在安全性前提下,能夠有效的完成汽車轉向助力、阻力或回正功能,有效改善了駕駛員在低速行駛時轉向輕便與高速行駛時轉向穩(wěn)重的駕駛體驗,基本能夠達到預期的設計目標,對于實際工程有較大指導意義。
[Abstract]:In modern automobile industry, besides the improvement of mechanical structure, the degree of electronization of automobile is regarded as another important sign to measure the level of automobile industry. The electric power steering (EPS,Electric Power Steering) system, which replaces the traditional hydraulic power steering system, is an important application of electronic automobile in the field of power steering, and has a broad market prospect. According to the report of the China Association of Automobile Industry, from 2007 to 2012, the sales volume of electric power steering gear increased from 620000 to 6 million, and its market share continued to expand, but the local production market accounted for only 9 percent, and the rest was occupied by foreign capital or joint ventures. Therefore, the development of EPS system with independent intellectual property rights is of great significance to the development of China's EPS industry. This project is a basic research project of Sichuan Science and Technology Department. It takes steering shaft EPS as research object, LPC922FN single chip microcomputer as control core and permanent magnet DC motor as booster device. The EPS controller is designed with high reliability and low cost. Firstly, the working principle of EPS system and the characteristics of the help function curve are analyzed. Aiming at the limitation of the traditional PID control, the fuzzy control algorithm is applied to the EPS, and the membership function of the input and output parameters and the corresponding control rules are established. Then combined with the dynamic equation of the steering shaft EPS system, the system model is established under the MATLAB/SIMULINK environment, and the performance of the algorithm is verified by simulation. In the hardware part, the realization scheme of the main circuits is designed and the design of each functional module is completed. In the software part, the overall flow of the system program and each software module are realized. Finally, the joint debugging of the system software and hardware is completed, and a large number of test experiments, including functional experiment and performance experiment, are carried out, and the design index is basically completed. The design of steering controller with input torque of steering wheel, rotation angle and speed of steering shaft as input signal and motor power current as output signal is realized. The key point of this paper is to apply fuzzy control to the development of automobile power steering gear. Under the premise of safety, it can effectively accomplish the function of steering aid, resistance or realignment. It can effectively improve the driver's driving experience of light steering at low speed and steady steering at high speed, and can basically achieve the expected design goal, which is of great significance for practical engineering.
【學位授予單位】：電子科技大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：U463.4;TP273.4
本文編號：2279482
[Abstract]:In modern automobile industry, besides the improvement of mechanical structure, the degree of electronization of automobile is regarded as another important sign to measure the level of automobile industry. The electric power steering (EPS,Electric Power Steering) system, which replaces the traditional hydraulic power steering system, is an important application of electronic automobile in the field of power steering, and has a broad market prospect. According to the report of the China Association of Automobile Industry, from 2007 to 2012, the sales volume of electric power steering gear increased from 620000 to 6 million, and its market share continued to expand, but the local production market accounted for only 9 percent, and the rest was occupied by foreign capital or joint ventures. Therefore, the development of EPS system with independent intellectual property rights is of great significance to the development of China's EPS industry. This project is a basic research project of Sichuan Science and Technology Department. It takes steering shaft EPS as research object, LPC922FN single chip microcomputer as control core and permanent magnet DC motor as booster device. The EPS controller is designed with high reliability and low cost. Firstly, the working principle of EPS system and the characteristics of the help function curve are analyzed. Aiming at the limitation of the traditional PID control, the fuzzy control algorithm is applied to the EPS, and the membership function of the input and output parameters and the corresponding control rules are established. Then combined with the dynamic equation of the steering shaft EPS system, the system model is established under the MATLAB/SIMULINK environment, and the performance of the algorithm is verified by simulation. In the hardware part, the realization scheme of the main circuits is designed and the design of each functional module is completed. In the software part, the overall flow of the system program and each software module are realized. Finally, the joint debugging of the system software and hardware is completed, and a large number of test experiments, including functional experiment and performance experiment, are carried out, and the design index is basically completed. The design of steering controller with input torque of steering wheel, rotation angle and speed of steering shaft as input signal and motor power current as output signal is realized. The key point of this paper is to apply fuzzy control to the development of automobile power steering gear. Under the premise of safety, it can effectively accomplish the function of steering aid, resistance or realignment. It can effectively improve the driver's driving experience of light steering at low speed and steady steering at high speed, and can basically achieve the expected design goal, which is of great significance for practical engineering.
【學位授予單位】：電子科技大學
【學位級別】：碩士
【學位授予年份】：2014
【分類號】：U463.4;TP273.4
【參考文獻】
相關期刊論文 前1條
1 葉耿,楊家軍,劉照,肖大友;汽車電動式動力轉向系統(tǒng)轉向路感研究[J];華中科技大學學報(自然科學版);2002年02期
，本文編號：2279482
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