Rotating-speed-estimation-based self-adaptive fuzzy and sliding-mode control method of ESC

Abstract

The invention discloses a rotating-speed-estimation-based self-adaptive fuzzy and sliding-mode control method of an ESC, and belongs to the field of automobile hydraulic power assisted steering systems. The control method includes the following steps: 1, an outer rotor of the ESC is connected with an engine, an inner rotor of the ESC is connected with a steering pump, and an ESC type electronic control hydraulic steering system is built; 2, a rotating speed signal of the steering pump in the ESC type electric control hydraulic steering system is collected through an ECU; 3, an ESC dynamic equation is built based on the rotating speed in the step 2, wherein a mathematical model of the ESC under the d-q axis is built; and 4, based on the mathematical model in the step 3, a rotating-speed-estimation-based self-adaptive fuzzy and sliding-mode controller is designed. According to the rotating-speed-estimation-based self-adaptive fuzzy and sliding-mode control method, the beneficial effects of self-adaptive fuzzy control and fuzzy sliding-mode control are adopted, satisfied system responses are generated through a dynamic self-adaptive law, interference is obviously eliminated, and buffeting is reduced.

Description

technical field [0001] The invention belongs to the field of automobile hydraulic power steering systems, in particular to an adaptive fuzzy sliding mode control based on speed estimation. Background technique [0002] At present, heavy-duty vehicles (large passenger cars, large trucks, semi-trailer tractors, etc.) generally adopt a hydraulic power steering system (HPS) with a single power assist characteristic. / h), the steering wheel's feedback to the driver's road feeling is obviously weakened, and the driver will feel the vehicle "fluttering", leading to nervousness and misoperation, directly affecting the handling stability and driving safety of the vehicle. The statistical results of the driving process of the car show that more than 80% of the mileage (or time) of the vehicle is in a non-steering state, but the steering pump of the HPS is always running under the direct drive of the engine. The greater the energy loss, the more engine power is wasted. [0003] Elect...

AI Technical Summary

Problems solved by technology

[0006] However, during the steering process, due to the uncertainty of the E-ECHPS system (such as engine speed fluctuations) and external disturbances (such as random forces on the road surface, side wind), it is transformed into steering pump speed fluctuations and steering wheel angle / torque Jumping, causing the jitter of the ESC control current, resulting in changes in the rotation speed of the steering pump

Therefore, the uncertainty of the system itself and external interference become the main problems of E-ECHPS system control.

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