Robust feedforward controller and high-frequency gain compensator optimization method

Abstract

The invention discloses a robust feedforward controller and high-frequency gain compensator optimization method. The method comprises the steps that an EPS system mathematical model is established, and system transfer characteristics are obtained; a torque control loop control strategy is established, and a transfer function which has significant influence on the steering feeling of a driver is obtained through the system mathematical model and a basic control strategy; the change of a torque sensor signal is used as the main disturbance of an EPS system, a torque control loop uses a second-order feedforward controller to carry out disturbance compensation, the change of the EPS system transfer characteristics caused by the main disturbance is regarded as the uncertainty of the system, andan internal model control structure is established; a robust control theory is used to establish the design target of the robust feedforward controller, and the robust second-order feedforward controller is obtained by solving an optimal algorithm; and a high-frequency gain compensator is added to improve the control effect of the second-order feedforward controller in a high frequency band. According to the invention, the parameter acquisition of the robust controller is facilitated, and the controller can be adjusted more simply.

Description

technical field [0001] The invention relates to the technical field of electric power steering system control, in particular to a robust feedforward controller and a high-frequency gain compensator optimization method for suppressing torque fluctuations of the electric power steering system. Background technique [0002] The Electric Power Steering System (hereinafter referred to as the EPS system) is an on-demand system, and the motor only works when steering is required. Therefore, the use of the Electric Power Steering System can improve the fuel consumption of the car, and is more energy-saving and environmentally friendly. In addition, the electric power steering system also has higher safety and better driving comfort. further development. Therefore, the EPS system has become an inevitable trend in the development of automotive steering technology in the future. [0003] The key technology of the EPS system is the design of the control strategy centered on road sense...

AI Technical Summary

Problems solved by technology

[0005] However, the current control strategy used by enterprises, especially in the parameter debugging of the controller, can meet the dynamic and steady-state requirements of the EPS system through the experience of engineers and continuous calibration, but lacks the theoretical support for the forward development of the system.

Whether it is in the early parameter adjustment process or the process of parameter adjustment after the boost curve is modified, it will consume a lot of manpower and material resources

However, the research of scientific research institutions seldom considers the problem of system engineering realization. Although the model-based controller design method proposed by them can calculate the parameters of the controller through modern control theory, there are generally problems caused by the inaccuracy of the model. The controller design is not optimal or the order of the controller is too high to be realized in the project

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