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:(7794223):(1965-),,,;,(,400074):,,,,,:;;;Abstract:Amechanicsmodelofelectricpowersteering(EPS)systemissetupinthispaper1ThecharacteristicsofEPSareanalyzedintheory1UnderthecasethatEPSmotorisinthecontrolofapureproportioncontrollerandpro2portion2plus2derivativecontroller.Thefrequencyresponseandtimeresponseofthesystemarenumericallysimula2ted1TheauthorsalsoconsidertheeffectsoftheproportionalandderivativecoefficientstoEPS,studythevariationalruleofthesystempropertyontheeffectofvariationofthecoefficients,andprovidebasisforoptimizingthecontrollaw1Keywords:Vehicle;EPS;Systemcharacteristic;Theoreticalanalysis:U463.4:A:100623331(2005)0420001205,,(HydraulicPowerSteering,HPS)(ElectricHydraulicPowerSteering,EHPS),(ElectricPowerSteering,EPS),,,,,,,[1]1,,:(ElectricControlU2nit,ECU),A/D,;;,,,112,,,,,,2,:(1):Jhd2hdt2=Th-Bhdhdt-T(1)120054©1995-2005TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.(2):Jcd2dt2=T+Ta-Ts-Bcddt(2)(3):Jsd2sdt2=Ts-Tf-Bsdsdt(3)(4):Jmd2mdt2=Tm-Ta-Bmdmdt(4)2(1)(4),JhJcJsJm;BhBcBsBm;hsm;ThTfTm;TT;TaTa;TsTs(5),:T=T=Kh(h-)(5)Kh(6),:Ta=Ta3Ga,Ts=Ts3Gs(6)Ga;Gs(7),m=3Ga,=s3Gs(7),,[2],Tf=Kfs(8)(5)(8)(1)(4):Jhd2hdt2+Bhdhdt+Kh(h-)=Th(9)Jcd2dt2+Bcddt=K(h-)+Ta-Ts(10)Js1G2sd2dt2+Bs1G2sddt+KfG2s=Ts(11)JmG2ad2dt2+BmG2addt=TmGa-Ta(12),,Jhd2hdt2[2],Bh,(9)Th=Kh(h-)(13)(10)(12):(Jc+JmG2a+Js1G2s)d2dt2+(Bs+BmG2a+Bs1G2s)ddt+KfG2s=Th+TmGa:J=Jc+JmG2a+Js1G2s,B=Bs+BmG2a+Bs1G2s,K=KfG2sTa=TmGa,:Jd2dt2+Bddt+K=Th+Ta(14),(3),URLNmI:U=Kedmdt+RI+LdIdt,,:U=RI+Kedmdt(15):Tm=KaI(16),,:U=KpTh(17)242005©1995-2005TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.3(PD),:U=KpTh+KddThdt(18)KpKd(13)(18):Th(s)=Kh(h(s)-(s))(19)(s)=1Js2+Bs+K(Th(s)+Ta(s))(20)I(s)=1R(U(s)-KeGas(s))(21)Ta(s)=KaGaI(s)(22)U(s)=KpTh(s)(23)U(s)=(Kp+Kds)Th(s)(24)(19)(24)h(s)(s):(s)h(s)=KhR+GaKaKhKp(Js2+Bs+K)R+KaKeG2as+KhR+GaKaKhKp(25):(s)h(s)=KhR+GaKaKh(Kp+Kds)(Js2+Bs+K)R+KaKeG2as+KhR+GaKaKh(Kp+Kds)(26)(25)(26),s=0:(s)h(s)|s=0=KhR+GaKaKhKpKR+KhR+GaKaKhKp=1-KK+Kh+GaKaKhKpR(27):(s)h(s)|s=0=KhR+GaKaKhKpKR+KhR+GaKaKhKp=1-KK+Kh+GaKaKhKpR(28),,,,,(16):J1d2dt2+B1ddt+K=Th(29):J1=Jc+Js1G2s,B1=Bs+Bs1G2s(13)(29),,:(s)h(s)=KhJ1s2+B1s+K+Kh(30)(30),s=0,:(s)h(s)|s=0=1-KK+Kh(31)(5),h,,,,(27)(28),,(27)(28)(31),,(27)(28),3,Mat2lab615320054©1995-2005TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.,,20m/s014g,[3]:J=1181Nms/rad,B=1813Nms/rad,K=62122Nm/rad,Ga=30,Kh=40Nm/rad,Ke=0102Vs,Ka=0102Nm/A,R=0115Kp,,Kp=0152155152060,,45,,4,,,,5,,,5,,(),,45,,,,(PD)Kd,Kp=5Kd,67456KpKd7KpKd6,KpKd,,,Kp,Kd,,,442005©1995-2005TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.,7,,,(),8989,,,,;,,,,,,,,,,,;,,4,,,,,,,,:[1],,1[J]1,2001,(6):792821[2],,1[J]1(),2002,(2):242261[3],,1[J]1,2003,(5):87428761[4]1[M]1:,20021[5]1MATLAB[M]1:,20001[6]1()[M]1:,20011[7],,1[J]1,2003,(6):3251[8]J1S1Chen1ControlofElectricPowerSteeringSystems1SAEpaper98116,1702217041:2004211228520054©1995-2005TsinghuaTongfangOpticalDiscCo.,Ltd.Allrightsreserved.