Abstract:An electric power steering (EPS) system with varied steering ratio was proposed, and mathematical model of varied steering ratio for EPS system was established. In view of the effects of the characteristic speed on vehicle stability, and the maneuverability requirements of steering wheel angle, two control strategies of varied steering ratio were proposed to obtain constant vehicle steering. The first control strategy was derived by segmented linear superposition of varied steering ratios from yaw rate and lateral acceleration. Based on the first strategy,the second control strategy was deduced by steering wheel angle correction. To verify the proposed two control strategies, driver-vehicle-road closed-loop system was established. Based on linear matrix inequalities, a robust PID controller of angular position tracking was designed for brushless DC motor. Simulation test of single lane change maneuver was carried out to compare the two control strategies according to steering wheel angle and path tracking performance.The simulation results indicate that the second control strategy has better integral performance than that of the first one.
魏建伟, 魏民祥, 赵万忠. 基于人-车-路闭环系统的变传动比控制规律[J]. 江苏大学学报(自然科学版), 2011, 32(6): 652-657.
WEI Jianwei, WEI Minxiang, ZHAO Wanzhong. Control law of varied steering ratio based on driver-vehicle-road closed-loop system[J]. Journal of Jiangsu University(Natural Science Eidtion)
, 2011, 32(6): 652-657.