基于UKF路面附着估计的电动助力转向控制策略

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振动与冲击 ›› 2016, Vol. 35 ›› Issue (22) : 123-128.

论文

周兵，宋义彤，范璐

作者信息 +

Control strategy of Electric Power Steering based on estimation of tire-road friction coefficient using UKF

ZHOU Bing, Song Yitong, FAN Lu

Author information +

文章历史 +

摘要

考虑路面附着对驾驶员转向操纵的影响，设计了电动助力转向电流补偿控制策略。为了实时估计出路面附着系数，基于无迹卡尔曼滤波理论建立了路面附着系数观测器。在传统电动助力转向控制基础上，把路面附着和车速作为输入，设计了模糊控制器，得到控制补偿叠加电流，对传统电动助力转向进行修正。在MATLAB/Simulink中的仿真分析说明无迹卡尔曼滤波观测器能实时准确估计出路面附着系数，并且所设计的电动助力转向电流补偿控制策略能综合车辆行驶时的路面附着、车速和转向盘转角等信息，由助力执行电机产生适当的助力，使驾驶员获得良好的路感，提高车辆行驶稳定性和安全性。

Abstract

Considering the impact of tire-road friction coefficient on the driver’s steering manipulation, the control strategy of current compensation for Electric Power Steering is designed. For real-time estimation of tire-road friction coefficient, the tire-road friction coefficient observer is established based on the Unscented Kalman Filter theory. Based on the control of conventional Electric Power Steering, taking the tire-road friction coefficient and vehicle speed as input designs fuzzy controller so that the control compensation superimposed current is used to correct the traditional Electric Power Steering. The simulation analysis in MATLAB/Simulink shows that the Unscented Kalman Filter observer can accurately estimate the real time tire-road friction coefficient, and the compensation control strategy of electric power steering current can integrate the information of tire-road friction coefficient, vehicle speed and steering wheel angle, etc. The appropriate power can be generated by power motor so that the driver can obtain good road feel to improve the stability and safety of vehicle.

导出引用

周兵，宋义彤，范璐. 基于UKF路面附着估计的电动助力转向控制策略[J]. 振动与冲击, 2016, 35(22): 123-128

ZHOU Bing, Song Yitong, FAN Lu. Control strategy of Electric Power Steering based on estimation of tire-road friction coefficient using UKF[J]. Journal of Vibration and Shock, 2016, 35(22): 123-128

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