基于UIO的EPS系统状态反馈最优控制

郑太雄; 周花; 李永福

doi:10.3724/SP.J.1004.2014.01433

基于UIO的EPS系统状态反馈最优控制

doi: 10.3724/SP.J.1004.2014.01433

1.
重庆邮电大学自动化学院汽车电子与嵌入式系统工程研究中心重庆 400065

基金项目:

国家自然科学基金（61304197），重庆市教委科学技术研究项目（KJ130506），重庆市工程技术研究中心建设项目（cstc2011pt-gc3005-1），重庆邮电大学青年基金（A2012-78），重庆邮电大学博士启动项目（A2012-26）资助

详细信息

作者简介:
郑太雄重庆邮电大学教授. 主要研究方向为汽车电子.E-mail：zhengtx@cqupt.edu.cn

计量
- 文章访问数: 1694
- HTML全文浏览量: 40
- PDF下载量: 849
- 被引次数: 0
出版历程
- 收稿日期: 2013-07-24
- 修回日期: 2013-11-26
- 刊出日期: 2014-07-20

Optimal State Feedback Control of EPS System Based on UIO

1.
Institute of Automotive Electronic and Embedded System, College of Automation, Chongqing University of Posts and Telecommunications, Chongqing 400065

Funds:

Supported by National Natural Science Foundation of China (61304197), Natural Science Foundation of CQJW (KJ130506), Chongqing Engineering Research Center Project (cstc2011pt-gc3005-1), Natural Science Foundation of CQUPT (A2012-78), Doctoral Start-up Funds of CQUPT (A2012-26)

摘要

摘要: 准确地获知电动助力转向（Electric powering steering，EPS）系统阻力矩是提高行车安全的一个重要因素.针对车辆转向过程中，由不同附着路面上EPS 系统所需辅助力矩与转向路感之间的差别而可能导致的误操纵问题，本文基于2自由度整车动力学的EPS系统模型，结合轮胎特性，以轮胎侧偏角和理想路面附着系数为输入，通过设计非线性观测器估计当前路面的附着系数，以获取EPS系统阻力矩；进而，根据EPS 系统模型，运用未知输入观测器（Unknown input observer，UIO）估算方向盘输入转矩，并基于EPS系统状态反馈以实现对EPS系统的无传感器最优控制.最后，对基于永磁同步电机（Permanent magnet synchronous motor，PMSM）的EPS系统进行仿真实验分析.结果表明：在以电机q轴电流闭环误差最小为指标函数情形下，本设计的方向盘回正残留角从25°降到0°，能有效抑制系统外界干扰，提高了转向时人-车系统的鲁棒性.
- 电动助力转向 /
- 未知输入观测器 /
- 状态反馈 /
- 阻力距 /
- 助力-回正特性
Abstract: To obtain the resistance moment of the EPS (Electric powering steering) system accurately is an important factor to improve the traffic safety. Considering that the difference between assist torque and road feel of the EPS system under different kinds of pavement may lead to incorrect manipulation when a vehicle is steering, a nonlinear observer based on the two-degree-freedom vehicle dynamics model and tire characteristics is designed to estimate the adhesion coefficient of the current pavement with the side-slip angle and ideal surface adhesion coefficient as inputs. Consequently, the resistance moment can be obtained. Then, according to the EPS model, the unknown input observer (UIO) is designed to estimate the steering wheel input torque. Therefore, the sensorless optimal control of the EPS system can be conducted in terms of the state feedback. Finally, the corresponding simulations are carried out through the EPS system with PMSM. The results show that in the case of the minimum of the q-axis closed-loop current error of the PMSM, the steering wheel residual angle in this approach can be reduced from 25° to 0°, which can realize disturbance rejection and improve the steering robustness of the human-vehicle system effectively.
- Electric powering steering /
- unknown input observer /
- state feedback /
- resistance moment /
- dynamic returnability characteristics

HTML全文

参考文献(23)

[1]	Chen X, Yang T B, Chen X Q, Zhou K M. A generic model-based advanced control of electric power-assisted steering systems. IEEE Transactions on Control Systems Technology, 2008, 16(6): 1289-1300
[2]	Jin H. Characteristic analysis of interior permanent-magnet synchronous motor in electrohydraulic power steering systems. IEEE Transactions on Industrial Electronics, 2008, 55(6): 2316-2323
[3]	Zhao Wan-Zhong, Shi Guo-Biao, Lin Yi, Nie Hong. Tracking performance of electric power steering based on the mixed H2/H∞ strategy. Chinese Journal of Mechanical Engineering, 2011, 24(4): 584-590
[4]	Du Feng, Wei Lang, Zhao Jian-You. Design of variable structure controller for active steering vehicle. Journal of Traffic and Transportation Engineering, 2009, 9(1): 35-39(杜峰, 魏朗, 赵建有. 车辆主动转向的变结构控制器设计. 交通运输工程学报, 2009, 9(1): 35-39)
[5]	Marouf A, Djemai M, Sentouh C, Pudlo P. A new control strategy of an electric-power-assisted steering system. IEEE Transactions on Vehicular Technology, 2012, 61(8): 3574-3589
[6]	Hu Li-Sheng, Shao Hui-He, Sun You-Xian. Robust sampled-data control for nonlinear uncertain systems. Acta Automatica Sinica, 2000, 26(6): 835-839(胡立生, 邵惠鹤, 孙优贤. 非线性系统的鲁棒采样控制. 自动化学报, 2000, 26(6): 835-839)
[7]	Veluvolu K C, Soh Y C. High-gain observers with sliding mode for state and unknown input estimations. IEEE Transactions on Industrial Electronics, 2009, 56(9): 3386-3393
[8]	Veluvolu K C, Soh Y C. Multiple sliding mode observers and unknown input estimations for Lipschitz nonlinear systems. International Journal of Robust and Nonlinear Control, 2011, 21(11): 1322-1340
[9]	Chen Zeng-Qiang, Sun Ming-Wei, Yang Rui-Guang. On the stability of linear active disturbance rejection control. Acta Automatica Sinica, 2013, 39(5): 574-580(陈增强, 孙明玮, 杨瑞光. 线性自抗扰控制器的稳定性研究. 自动化学报, 2013, 39(5): 574-580)
[10]	Mahmoud M S, Emzir M F. Unknown-input estimator-based controller design of electric power-assisted steering system. IET Control Theory and Applications, 2012, 6(16): 2485-2492
[11]	Zhao Lin-Feng, Chen Wu-Wei, Qin Wei-Hua, Yang Jun. Electric power steering on low friction coefficient road. Journal of Mechanical Engineering, 2011, 47(2): 109-114(赵林峰, 陈无畏, 秦炜华, 杨军. 低附着路面条件下EPS控制策略. 机械工程学报, 2011, 47(2): 109-114)
[12]	Zhao L H, Liu Z Y, Chen H. Design of a nonlinear observer for vehicle velocity estimation and experiments. IEEE Transactions on Control Systems Technology, 2011, 19(3): 664-672
[13]	Chen Y, Wang J M. Vehicle-longitudinal-motion-independent real-time tire-road friction coefficient estimation. In: Proceeding of the 49th Conference on Decision and Control. Atlanta, GA, USA: IEEE, 2010. 2910-2915
[14]	Mehrabi N, Azad N L, Mcphee J. Optimal disturbance rejection control design for electric power steering systems. In: Proceeding of the 50th Conference on Decision and Control and European Control Conference. Orlando, FL, USA: IEEE, 2011. 6584-6589
[15]	Zhou Hua-Wei, Wen Xu-Hui, Zhao Feng, Zhang Jian. Decoupled current control of permanent magnet synchronous motors drives with sliding mode control strategy based on internal model. Proceeding of the Chinese Society of Agricultural Engineering, 2012, 32(15): 91-99(周华伟, 温旭辉, 赵峰, 张剑. 基于内模的永磁同步电机滑模电流解耦控制. 中国电机工程学报, 2012, 32(15): 91-99)
[16]	Ahmadi J, Sedigh A K, Kabganian M. Adaptive vehicle lateral-plane motion control using optimal tire friction forces with saturation limits consideration. IEEE Transactions on Vehicular Technology, 2009, 58(8): 4098-4107
[17]	Marouf A, Djemai M, Sentouh C, Pudlo P. Sensorless control of electric power assisted steering system. In: Proceeding of 20th Mediterranean Conference on Control & Automaion. Barcelona, Spain: IEEE, 2012. 909-914
[18]	Shi Guo-Biao, Shen Rong-Wei, Lin Yi. Modeling and simulation of electric power steering system. Journal of Jilin University Engineering and Technology Edition, 2007, 37(1): 31-36(施国标, 申荣卫, 林逸. 电动助力转向系统的建模与仿真技术. 吉林大学学报, 2007, 37(1): 31-36)
[19]	Yang Cai, Li Liang, Song Jian, Li Hong-Zhi. Road friction coefficient estimation algorithm based on tire force observer. China Mechanical Engineering, 2009, 20(7): 873-876(杨财, 李亮, 宋健, 李红志. 基于轮胎力观测器的路面附着系数识别算法. 中国机械工程, 2009, 20(7): 873-876)
[20]	Ahn C, Peng H, Tseng H E. Robust estimation of road friction coefficient. In: Proceeding of the American Control Conference on O'Farrell Street. San Francisco, America: IEEE, 2011. 3948-3953
[21]	Nehaoua L, Djemai M, Pudlo P. Virtual prototyping of an electric power steering simulator. IEEE Transactions on Intelligent Transportation Systems, 2013, 14(1): 274-283
[22]	Han Dong, Zhu Fang-Lai. Simultaneous estimation of states and unknown inputs for linear systems based on auxiliary outputs. Acta Automatica Sinica, 2012, 38(6): 932-943(韩冬, 朱芳来. 基于辅助输出的线性系统状态和未知输入同时估计方法. 自动化学报, 2012, 38(6): 932-943)
[23]	Hu Zhi-Kun, Sun Yan, Jiang Bin, He Jing, Zhang Chang-Fan. An optimal unknown input observer based fault diagnosis method. Acta Automatica Sinica, 2013, 39(8): 1225-1230(胡志坤, 孙岩, 姜斌, 何静, 张昌凡. 一种基于最优未知输入观测器的故障诊断方法. 自动化学报, 2013, 39(8): 1225-1230)