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电动助力转向系统(EPS)设计中最重要的是助力控制模式的控制器设计。在PID控制的基础上引入了模糊控制,提出了基于模糊PID控制的助力控制模式;应用TruckSim和Simulink建立EPS联合仿真模型;采用常用的操纵稳定性开环和闭环两种评价方法进行PID控制和模糊PID控制仿真对比试验,研究模糊PID助力控制模式对EPS性能及整车操纵稳定性的影响。开环评价对比试验结果表明:模糊PID控制器的助力性能较好,但操纵稳定性略差一些。闭环对比试验表明:EPS助力控制模式能有效地提高转向系转向轻便性,模糊PID控制器作用下的操纵性和汽车行驶安全性较好。认为模糊PID控制器下的助力控制模式助力性能好于PID控制器,模糊PID控制器更适合EPS助力控制模式。
The most important part of the EPS design is the controller design for power-assisted control mode. Based on the PID control, the fuzzy control is introduced and the assistant control mode based on fuzzy PID control is put forward. The EPS joint simulation model is established by using TruckSim and Simulink. Two commonly used manipulative stability open-loop and closed-loop evaluation methods are used for PID control and Fuzzy PID control simulation comparative test to study the fuzzy PID boost control mode of EPS performance and vehicle handling stability. Open-loop evaluation comparison test results show that: fuzzy PID controller boost performance better, but the steering stability slightly worse. The closed-loop comparative tests show that the EPS boost control mode can effectively improve the light steering of the steering system, and the controllability and driving safety of the vehicle under the control of the fuzzy PID controller are good. It is considered that the assist control mode of the fuzzy PID controller is better than the PID controller, and the fuzzy PID controller is more suitable for the EPS assisted control mode.