The Simulation Of Hardware In The Loop On The Automotive Electric Power Steering System

The steering system is an important institution of the control of the vehicle and its performance directly affects the vehicle safety, handling stability and comfort.In view of the electric power steering system (EPS) compared to traditional hydraulic power system with the assistance of flexibility,energy-saving,efficiency,easy to match and maintenance and other advantages, has received wide attention and recognition of the society, has become the focus of the research and development in the steering systems industry.However, due to the electronic control system has high complexity, high failure possibilities and long periodicity,using recent high-profile HIL simulation technology for real-time simulation, can greatly shorten the development cycle, saving the cost of research and development.In this paper, building electric power steering system of mathematical modeling, and off-line simulation and hardware-in-the-loop simulation test with Matlab/Simulink, Dspace/ControlDesk, verifying the correctness of the electric power steering system model and control strategy for electric power steering system, accumulating the developing experience of electric power steering system and the building experience of rapid prototyping.Firstly, analyzing the electric power steering system dynamics mathematical model, and establishing the vehicle dynamic model of Simulink based on Matlab/Simulink, including a steering column module, vehicle module with two degrees of freedom, wheel steering resistance module and a motor module model, validating the handling stability of vehicle based on the vehicle model with two degrees of freedom.Then, studying the EPS power curve and control strategies, establishing the target current fuzzy control model and adaptive tuning of PID fuzzy control model, making off-line simulation based on fuzzy adaptive PID control of the EPS model, verifying the rationality and validity of the EPS controlstrategy and system function.Next, building a system that EPS hardware in the loop simulation test bench based on the dSPACE system, and generating real-time control C code using the RTI and the RTW automatically,and downloading to the the dSPACE system.Finally, making EPS hardware in loop simulation test by the comprehensive experimental test software Controldesk,verifying the correctness and validity of the EPS model and control strategy, and summarizing the experience and shortcomings.