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402()Vol.40No.220103JournalofJilinUniversity(EngineeringandTechnologyEdition)Mar.2010:2008206229.:(D0305002040111).:(19712),,,.:.E2mail:rongweishen@sohu.com1,1,2,3(1.,300222;2.,054035;3.,100081):,,,,,:;;;;:U463.4:A:167125497(2010)0220311205DevelopmentandtestofelectricpowersteeringsystemofpureelectricbusSHENRong2wei1,TAIXiao2hong1,ZHAOJian2feng2,SHIGuo2biao3(1.SchoolofAutomotiveandTraffic,TianjinUniversityofTechnologyandEducation,Tianjin300222,China;2.DepartmentofAutomobile,XingtaiPolytechnicCollege,Xingtai054035,China;3.SchoolofMechanicalandVehicleEngineering,BeijingInstituteofTechnology,Beijing100081,China)Abstract:Anelectricpowersteeringsystemwasdevelopedforapureelectricbus.Thestructureandworkingprincipleofthedevelopedsteeringsystemwereintroduced.Thecontrolstrategiesofthesysteminthepower2assistedcontrolmode,thedampingcontrolmode,andtherealigningcontrolmodewereanalyzed.Thedevelopedsteeringsystemwasintegratedintoapureelectricbuswhichwastestedontheroad.Theresultsshowthatthedevelopedelectricpowersteeringsystemischaracterizedbyenergy2saving,environmentfriendliness,steeringeasinessanddriversmoothhandfeel.Keywords:vehicleengineering;pureelectricbus;electricpowersteering(EPS)system;controlstrategy;roadtest,,:,;,;;[123],(EPS),120A,,11.1EPS,384V,()4080km/h,160km,61800N,12mEPS1(ECU)12;22;32;42;52;62;72;82;921EPSFig.1StructureofEPSsystemofpureelectricpowerbus1.2,ECU,,;,,,ECU,,,2,2.1,22EPSFig.2Controlstrategydiagramofelectricpowersystem,IB,(PID+PWM),2.1.1,,,,,,,[4]Gc(s)=(1+aTs)/(1+Ts),a1(1):a;T2.1.2,,,[5](1),,,,2132,:,IJ=KJdMdt(2):KJ;M(2),,,,,,ID=KDM(3):KD(3),,,,,,,,,,,IF=KFsgnM(4):KF,I=IB+IJ+ID+IF(5),,,,,,m=u-iRKe(6):uiR;Ke2.2,,,,,,,u=Ldidt+Kem+Ri(7)Tm=KcI(8):Kc,,Tm=-KeKcRm(9),,,,,,,,,,,,,2.32:,;,,u1=Kp(0-s)+Ki(0-s)dt(10):Kp;KiPI,(0),,,,,[628]u2=-Kds(11):Kd,313()40,,;,,,,,u=-(Kps+Kisdt+Kds)(12)KpKiKd,3200843,83Fig.3Testofsteeringonspot3,,,,,4,,,58,PWM,,,,64Fig.4Assistcharacteristicmeasuredwhensteeringonspot58Fig.5Steeringtestof8route6Fig.6Steeringtestofsnakeshapealongastraightline,,4(1),4132,:(2),(3),,:[1]NakayamaT,SudaE.Thepresentandfutureofelectricsteering[J].InternationalJournalofVehicleDesign,1994,15:325.[2]GrayPB,RobertMH.Applyingdrivingsimulationtoquantifysteeringeffortpreferenceasfunctionofvehiclespeed[C]SAEPaper,1999.[3]YasuoShimizu,ToshitakeKaw.Developmentofelectricpowersteering[C]SAEPaper,1991.[4].[M].:,2002.[5]YasuoShimizu,ToshitakeKaw.Developmentofelectronic2controlledpowersteeringsystem[C]SAEPaper,1998.[6]KimJH,SongJB.Controllogicofelectricpowersteeringsystemusingmotor[J].Mechatronics,2002(12):4472459.[7]TakeharaS,SakamotoK.Controllogicdesignanddevelopmentofelectricpower2assistedsteering[C]AVEC,Japan,2002.[8],,,.[J].:,2007,37(3):5042508.ShenRong2wei,LinYi,TaiXiao2hong,etal.Steeringtorquedirectcontrolstrategyforvehicleelectricpowersteeringsystem[J].JounralofJilinUniversity(EngineeringandTechnologyEdition),2007,37(3):5042508.513