A permanent magnet slip clutch and its adaptive non-singular terminal sliding mode speed control method

Abstract

The invention discloses a permanent magnet rotating speed difference clutch and a self-adaption nonsingular terminal slip form rotating speed control method thereof. The method is characterized in that (1) an outer rotor of a permanent magnet rotating speed difference clutch is connected with an engine, and an inner rotor is connected with a steering pump, and then a permanent magnet rotating speed difference clutch type electronically controlled hydraulic power steering system can be formed; (2) a permanent magnet rotating speed difference clutch mathematic model can be established, and comprises a voltage equation, an electromagnetic torque equation, and a motion equation; (3)according to the mathematic mode, the self-adaption nonsingular terminal slip form surface can be designed by adopting the self-adaption nonsingular terminal slip form control method, and the control law can be deduced, and the self-adaption law of the parameter uncertain factors can be designed by adopting the Lyapunov stability theory, and the stability of the control system can be guaranteed. By adopting the self-adaption nonsingular terminal slip form control method, the problems of the system parameter perturbation and the external interference uncertainty can be overcome, the jitter can be reduced, the strong robustness can be provided, the accurate control over the permanent magnet rotating speed difference clutch output rotating speed can be realized, and the tracking error can be reduced to zero quickly.

Description

Technical field [0001] The invention belongs to the field of automobile hydraulic power steering systems, and in particular relates to a permanent magnet slip clutch adaptive non-singular terminal sliding mode speed control method. Background technique [0002] With the progress and development of science and technology and the automobile industry, people are not only satisfied with the improvement of vehicle performance, but also more and more attention to the handling stability, safety and energy saving of vehicles during driving. At present, most heavy vehicles use traditional hydraulic power steering systems (HPS), which can provide good power assistance at low speeds, but their power assistance characteristics are relatively simple and cannot change with vehicle speed changes, resulting in excessive power assistance when the vehicle is running at high speeds At this time, the driver's "road feeling" is poor, and the steering wheel will flutter, which will have a certain impa...

AI Technical Summary

Problems solved by technology

[0006] For the permanent magnet slip clutch ECHPS system, an adaptive non-singular terminal sliding mode control method is proposed, which can solve the problems of parameter perturbation and external disturbance uncertainty, and can also make the tracking error converge to zero quickly (ie, the steering pump Speed ​​fast tracking ideal value), with better robustness

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