文档介绍：第 25 卷第 4 期传
动
技
术 V ol. 25
N o. 4
2011 年 12 月 DRIVE SY ST EM T ECHN IQ U E December 2011
文章编号: 1006-8244( 2011) 04-33-05
基于 MATLAB /Simulink 的电动助力转向
系统控制算法仿真研究
A Study on the Control Algorithm of Electric Power Steering
System Based on MATLAB/ Simulink
何字满(1)
顾梦妍( 2)
( 1. 上海交通大学汽车电子控制技术国家工程实验室上海
200240;
2. 上海工程技术大学上海
201620)
H e Ziman (1)
Gu Mengy an (2)
( 1. N ational Eng ineering L aboratory f or A utomotive Electronic Control
T echnolog y, S hanghai J iao T ong University , S hanghai 200240;
2. Shang hai University of Eng ineering Science, S hanghai 201620)
[ 摘要] 简述了电动助力转向系统( EPS) 的组成机构和不同控制模式下的工作原理。根据简化的物理模型,
将电动助力转向系统划分为了三个组成部分, 并分别陈列了各个组成部分的数学模型。针对汽车不同的行
驶工况, 提出了三种不同的转向控制模式。基于电动助力转向系统的数学模型和不同控制模式, 在 M AT-
LAB/ Simulink 中构建了控制器的仿真模型。通过追踪助力电机的目标电流, 分析转向轻便性和路感, 验证
了本文施加的基本 PID 和 PWM 控制策略较好地协调了汽车转向时
轻
与
灵
的矛盾, 提高了汽车转向时
的操作稳定性。
[ Abstract]T ponents of Electric Power S teering ( EPS) system and the w orking principles based on
different control modes were described simply. ording to the simplified physical models, EPS system
was divided into three parts. T he mathematical models of every part were established separately. T hree
kinds of steering control modes w ere introduced for adapting different operating conditions. On the basis of
mathematical models and different control modes of EPS system, the simulation model of the cont