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首页> 外文期刊>IEEE / ASME Transactions on Mechatronics >Mathematical Modeling and Nonlinear Controller Design for a Novel Electrohydraulic Power-Steering System
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Mathematical Modeling and Nonlinear Controller Design for a Novel Electrohydraulic Power-Steering System

机译：新型电动液压助力转向系统的数学建模和非线性控制器设计

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This paper is concerned with the mathematical modeling and nonlinear controller design of a novel electrohydraulic closed-center power-steering system. After a short introduction to the requirements of modern power-steering systems, the construction of the power-steering system under consideration will be described. The main advantage of this construction is the enhancement of the overall energetic efficiency of the steering system and the possibility of a variable steering assistance while keeping the good steering feeling of traditional hydraulic steering systems. Based on a detailed mathematical model of the essential components of the system, it is shown how some of the parameters of the system can be chosen to achieve an optimal dynamic behavior of the closed-loop system. The controller design proceeds in two steps: first, a nonlinear controller for the assistance force based on the differential flatness property of the system is designed, and afterwards, a steering torque controller using an impedance matching design is derived. Finally, measurement results of a test stand show the good performance and the robust behavior of the proposed control strategy
机译：本文涉及一种新型的电动液压封闭式中心助力转向系统的数学建模和非线性控制器设计。在简要介绍了现代动力转向系统的要求之后，将描述所考虑的动力转向系统的构造。这种结构的主要优点是提高了转向系统的整体能量效率，并提供了可变的转向辅助功能，同时又保持了传统液压转向系统的良好转向感。基于系统基本组件的详细数学模型，显示了如何选择系统的某些参数以实现闭环系统的最佳动态行为。控制器的设计分两个步骤进行：首先，基于系统的微分平坦性，设计用于辅助力的非线性控制器，然后，得出使用阻抗匹配设计的转向转矩控制器。最后，测试台的测量结果显示了所提出控制策略的良好性能和鲁棒性

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