應用線性平方調整法於電動輔助轉向系統之回正控制

Return Control of Electric Power Steering using Linear Quadratic Regulator

劉柏昭(Bo-Jhao Liu)

指導教授 ： 陳柏全

國立臺北科技大學/機電學院/車輛工程系所/碩士(2011年)

https://doi.org/10.6841/NTUT.2011.00560

摘要

由於轉向系統本身有摩擦力矩，所以在轉向過彎後，方向盤無法完全回正至
中心位置。為了解決上述問題，本文提出一個線性平方調整法來設計電動輔助轉
向系統的回正控制策略，利用干擾估測器進行轉向角速度與干擾力矩的估測，將
轉角量測值與轉向角速度估測值用來進行全階回授控制，並利用干擾力矩估測值
進行前饋補償。本文利用CarSim 的車輛動態模型，配合轉向柱旋轉動態模型，
來評估回正控制之性能。本文先建構一實驗平台，以便進行硬體在迴路中的驗
證，最後利用搭載電動輔助轉向系統的實車進行驗證。模擬與實驗結果顯示，本
文所提出的回正控制可以提升低速時的回正能力，並可達到高速時的阻尼補償效
果。

關鍵字

電動輔助轉向系統 ； 回正控制 ； 線性平方調整法 ； 干擾力矩估測器 ； 阻尼補償

並列摘要

Friction torque which exists in the steering system might make the steering
wheel unable to return to its center position after negotiating a turn. In order to
solve this problem, we employed the linear quadratic regulator to design the return
control strategy. A disturbance estimator is designed to estimate the angular
velocity of the steering wheel and the disturbance torque. The angle measurement
and angular velocity estimation are used for full state feedback. The estimated
disturbance torque is used for feedforward compensation. CarSim and the
rotational dynamics of the steering wheel are used to evaluate the performance of
the proposed control. An EPS experimental platform was established for
hardware-in-the-loop verification. Road test is also conducted using a production
vehicle with EPS. Simulation and experimental results show that the proposed
control can not only improve the returnability but also achieving damping
compensation at the same time.

並列關鍵字

Electric power steering ； Return control ； Linear quadratic regulator ； Disturbance estimator ； Damping compensation

參考文獻

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