Electric power steering system dynamic sliding control with the nonlinear disturbance observer

doi:10.16731/j.cnki.1671-3133.2017.05.015

Abstract

Abstract: Considering electric power steering system with 2 DOFs model of vehicle.Established the model of electric power steering system take into account system of friction,bumpy roads and unmolded part of system.Then putting forward a kind of electric power steering dynamic sliding mode control system with disturbance observer.Then willing the system of interference,unmolded part of system as a general system of outside interference.Observable the interference of the system,selected the appropriate parameters of system,then making the observation error index convergence.With the system with disturbance observer.The dynamic surface sliding mode variable structure controller inversion is designed step by step by using Lyapunov stability theory.Avoided the problem of integral expansion compared with the traditional inversion controller,simulating the electric power steering system with 2 DOFs model for vehicle simulation with Matlab /Simulink with the influence of random disturbance of road bumps etc.The simulation results show that the controller under the action of the steering wheel torque in the interference of output is steady,strong robustness.Also it improves the portability of the system.

Key words: electric power steering system, nonlinear disturbance observer, dynamic sliding mode variable structure control

CLC Number:

TP29

Zou Zuoming. Electric power steering system dynamic sliding control with the nonlinear disturbance observer[J]. Modern Manufacturing Engineering, 2017, 440(5): 76-85.

References

[1] PARMAR M,HUNG J Y.A sensorless optimal control system for an automotive electric power assist steering system[J].Industrial Electronics,IEEE Transactions on,2004,51(2):290-298.
[2] CHEN X,LI K.Robust control of electric power-assisted steering system.Vehicle Power and Propulsion,2005 IEEE Conference[C].[S.l.]:IEEE,2005:473-478.
[3] CHABAAN R C,WANG L Y.Control of electrical power assist systems: H_∞ design,torque estimation and structural stability[J].JSAE review,2001,22(4):435-444.
[4] 胡建军,卢娟,秦大同,等.电动助力转向系统的建模和仿真分析[J].重庆大学学报(自然科学版),2007,30(8):10-13.
[5] SABANOVIC A.Variable structure systems with sliding modes in motion control—a survey[J].IEEE Transactions on Industrial Informatics,2011,2(7):212-223.
[6] McCann R,PUJARA L R,LIEH J.Influence of motor drive parameters on the robust stability of electric power steering systems.Power Electronics in Transportation,1998[C]:Piscataway,NJ,USA:IEEE,1998:103-108.
[7] KURISHIGE M,KIFUKU T,INOUE N,et al.A control strategy to reduce steering torque for stationary vehicles equipped with EPS[R].[S.l.]:SAE Technical Paper,1999.
[8] ZAREMBA A T,LIUBAKKA M K,STUNTZ R M.Control and steering feel issues in the design of an electric power steering system.American Control Conference,1998.Proceedings of the 1998[C].Seoul,KR:IEEE,1998(1):36-40.
[9] 冯引安,谢昭莉,张元涛.电动助力转向系统建模及动力学仿真分析[J].现代制造工程,2007(1): 128-131.
[10] MAROUF A,SENTOUH C,DJEMAI M,et al.Control of an electric power assisted steering system using reference model.Decision and Control and European Control Conference(CDC-ECC),2011 50th IEEE Conference on[C].[S.l.]:IEEE,2011:6684-6690.
[11] LI X,ZHAO X P,CHEN J.Controller design for electric power steering system using TS fuzzy model approach[J].International Journal of Automation and Computing,2009,6(2):198-203.
[12] SAIFIA D,CHADLI M,KARIMI H R,et al.Fuzzy control for electric power steering system with assist motor current input constraints[J].Journal of the Franklin Institute,2015,352(2):562-576..
[13] 刘照.汽车电动助力转向系统动力学分析与控制方法研究[D].武汉:华中科技大学,2004.
[14] 李润方,王建军.齿轮系统动力学[M].北京:科学出版社,1996.
[15] LEE J H,ALLAIRE P E,TAO G,et al.Integral sliding-mode control of a magnetically suspended balance beam: analysis,simulation,and experiment[J].Mechatronics,IEEE/ASME Transactions on,2001,6(3):338-346.
[16] SHIEH H J,HSU C H.An adaptive approximator-based backstepping control approach for piezoactuator-driven stages[J].Industrial Electronics,IEEE Transactions on,2008,55(4):1729-1738.
[17] 李良,谢建,黄建招.动态面滑模控制在大型液压起竖系统中的应用研究[J].兵工学报,2014,35(2):235-240.
[18] LIN C M,LI H Y.Adaptive dynamic sliding-mode fuzzy CMAC for voice coil motor using asymmetric gaussian membership function[J].Industrial Electronics,IEEE Transactions on,2014,61(10):5662-5671.
[19] YANG J,SU J,LI S,et al.High-order mismatched disturbance compensation for motion control systems via a continuous dynamic sliding-mode approach[J].Industrial Informatics,IEEE Transactions on,2014,10(1):604-614.
[20] 卜祥伟,吴晓燕,陈永兴,等.基于非线性干扰观测器的高超声速飞行器滑模反演控制[J].控制理论与应用,2014(11):005.
[21] KHAN Q,BHATTI A I,FERRARA A.Dynamic sliding mode control design based on an integral manifold for nonlinear uncertain systems[J].Journal of Nonlinear Dynamics,2014(2014):1-10.
[22] EOM M,CHWA D.Robust Swing-Up and Balancing Control Using a Nonlinear Disturbance Observer for the Pendubot System With Dynamic Friction[J].Robotics,IEEE Transactions on,2015,31(2):331-343.
[23] 朱亮,姜长生,方炜.基于非线性干扰观测器的不确定非线性系统鲁棒轨迹线性化控制[J].信息与控制,2007,35(6):705-710.