電動輔助轉向系統之設計與控制

Design and Control Of Electric Power Assisted Steering System

邱模生(Mo-Sheng Chiu)

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(2005年)

https://doi.org/10.6841/NTUT.2005.00270

摘要

現今一般車輛的輔助轉向系統多為液壓輔助轉向系統，由於油壓泵是由引擎帶動，需要額外之引擎動力而增加油耗，即使在直線前進時，亦需保持一定的操作壓力，造成不必要的能源損失。而電動輔助轉向系統即被用以改善此種現象，並提供適當之轉向輔助力。本研究主要針對電動輔助轉向系統進行控制器設計，首先利用簡化之腳踏車模型、轉向機構幾何及各車輪定位角關係推導出轉向模型，以分析所需之轉向扭矩，規劃轉向輔助策略，並將其建立於MATLAB/ SIMULINK中。接著利用模糊適應性控制器，控制輔助馬達，使得其能在適當時機，更迅速、更穩定的提供適當之輔助扭矩，以增加駕駛舒適性。最後，本研究建構一電動輔助轉向實驗平台，配合實際駕駛者之駕駛行為，以驗證本研究所發展之輔助策略及控制器。

關鍵字

電動輔助轉向 ； 輔助轉向策略 ； 模糊適應性控制 ； 轉向模型

並列摘要

The hydraulic power assisted steering system (HPAS) is commonly used for traditional vehicles. Because the hydraulic pump is always driven by the engine to maintain the operating pressure even without steering, the HPAS results in unnecessary fuel consumption. In order to solve this problem, the electric power-assisted steering system (EPAS) is proposed and studied in this paper. This system employs an electric motor to provide assist steering torque. First, the bicycle model, the geometry of steering mechanism, and the tire model are used to derive the steering model. The derived model can be used to analyze the steering torque, and design the assist strategy. The torque of the assist motor is controlled using a fuzzy adaptive controller. Finally, an EPAS experimental platform is established to verify the steering assist strategy and the proposed controller.

並列關鍵字

Electric Power Assisted Steering ； Assist strategy ； Fuzzy adaptive controller ； Steering model

參考文獻

[1] Leen, G. and Heffernan, D., "Expanding Automotive Electronic Systems," IEEE No.0018-9162, 2002.

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[6] Junker, H. K., "Electronically enhanced steering systems," SAE Papers No.1992-25-0048.

[7] Peter, D. and Gerhard, R., "Electric power steering – the first step on the way to “steer by wire”," SAE Papers No.1999-01-0401.