自适应滑模控制器的EPS侧风反向控制研究

为了研究在侧风影响下汽车正向助力转向偏移过大而威胁驾驶员行车安全的问题，提出一种将反向助力和自适应滑模控制器相结合的控制方法。该方法通过驾驶员转矩和汽车车速的配比设计反向助力特性曲线，并利用自适应滑模电机控制器控制电机输出助力转矩，使汽车在转向过程中，增加了驾驶员转向的阻尼感，也同时提高了驾驶员对转向电机的实时操纵性。将其应用到汽车EPS系统中，仿真结果表明，在不同的车速、风速下，采用反向控制策略不仅减小了方向盘角度、齿条位移，还减小了汽车横摆角速度，可以显著地改善汽车行驶的稳定性和安全性。

Study on reverse control of EPS based on adaptive sliding mode controller under crosswind

Aiming at the problem that the steering shift of vehicle positive power under the effect of crosswind is too large, which has threatened the driving safety of driver, a control method combining reverse power and adaptive sliding mode controller was proposed. According to the ratio of the driver torque and the vehicle speed, the characteristic curve of reverse power was designed, and the output power torque of the motor was controlled by the adaptive sliding mode motor controller. In the process of steering, the driver's steering damping sense is increased, and the driver's real-time maneuverability for steering motor is improved. The method was applied in the electric power steering (EPS) system of vehicle, the simulation results showed that the reverse control strategy not only decreases the steering wheel angle and the rack displacement, but also reduces the vehicle yaw rate under different vehicle speeds and wind speeds, which significantly improves the stability and safety of the vehicle driving.