【作者】 宋海峰；

【导师】 张国印；

【作者基本信息】 哈尔滨工程大学 ， 计算机应用技术， 2010， 硕士

【摘要】 车辆的转向系统是实现驾驶员的操作意图、控制车辆行驶状态和整车操纵稳定性的最重要系统。电动助力转向系统是目前研究及应用的热点,该系统具有部件少、结构简单、节能环保、便于安装维护等特点,是未来动力转向技术的发展方向,有望作为汽车的标准件,在动力转向系统中占据主导地位。本文首先在总结国内外文献的基础上,阐述电动助力转向领域国内外研究现状和GPS在汽车操纵稳定性研究中的国内外研究现状,指出开展GPS在汽车前轮转向稳定性研究中的重要意义。其次,在研究EPS系统结构和工作原理的基础上,应用运动学和动力学的理论知识建立电动助力转向系统动力学模型和二自由度车辆模型,提出了运用GPS实时差分定位技术的原理,结合INS传感器,测量汽车的横摆角速度、质心侧偏角和速度等汽车状态参数的方法,分析了测量系统的测量误差,应用Carsim和Simulink软件联合仿真,验证了二自由度车辆模型应用在车辆稳定性控制领域的可行性。再次,分析了车辆失去稳定性的原因,在此基础上重点分析了横摆角速度和质心侧偏角对车辆稳定性的影响,提出了基于GPS的车辆稳定性控制策略。设计了基于GPS的EPS控制器,重点介绍了控制器的组成、主控制芯片、GPS接口电路设计以及转向电机的驱动电路设计。最后,通过开环控制试验、转向不足控制试验、转向过度控制试验和质量分布不均控制试验验证了所设计的基于GPS的车辆稳定性控制策略的正确性和基于GPS的EPS控制器的实用性。更多还原

【Abstract】 Vehicle’s steering system is the most important system to achieve the intention of the driver’s operation, control the vehicle statement and handing stability. Electronic Power Steering System is the focus of the recently research and Applications. It has the characteristic of few component, simple architecture, energy-saving environmental protection, easy fix and maintenance. It is the direction of the future power steering technique. It is hopeful to be the standard component. It is the maintenance of power steering.First, introduced the development and application of GPS in the research of vehicle handling stability and EPS based on the published papers. It can be concluded that the application of GPS is an important method in vehicle front-steering handling and stability research.Second, based on the research of the architectur and operational principle of EPS. Using the kinematics and dynamics to establish the EPS model and Bicycle model. Proposed the method of measure the slip angle and yaw rate using GPS real-time differential positioning technology and INS sersor, analysed the errors of the system. Using Carsim and Simulink software co-simulation, verify the bicycle vehicle model used in the field of vehicle stability control is feasible.Third, analysed the reasons for the stability of the vehicle to lose. Focuse on the impact of vehicle stability by the yaw rate and slip angle. Proposed GPS-based vehicle stability control strategy. Designed the GPS-based EPS controller. Focuses on the composition of the controller, master controller, GPS interface circuit, and steering motor drive circuit.Finally, verified the correctness of GPS-based vehicle stability control strategy and the utility of GPS-based controller by Open-loop Control Test, Understeer Control Test, Oversteer Control test, Uneven distribution of quality Control Test.更多还原