Abstract
There are various uncertain factors such as parameter perturbation and external disturbance during the steering process of a permanent magnet slip clutch electronically controlled hydraulic power steering system (P-ECHPS) of medium and heavy duty vehicles, which is an electronically controlled hydraulic power steering system based on a permanent magnetic slip clutch (PMSC). In order to avoid the immutable single assistance characteristic of a hydraulic power steering system, a PMSC speed-controlled model and P-ECHPS of each subsystem model were studied. Combined with non-singular terminal sliding mode and fast terminal sliding mode, an Adaptive Non-singular Fast Terminal Sliding (ANFTS) mode control strategy was proposed to control precisely the rotor speed of the PMSC in P-ECHPS, thus achieving better power control for the entire P-ECHPS system. The simulation results show that adaptive nonsingular fast terminal sliding mode control enables PMSC output speed to track the target speed. Compared with the non-singular terminal sliding mode control and the ordinary sliding mode control, the convergence speed has been improved by 66.7% and 84.2%, respectively. The rapid control prototype test of PMSC based on dSPACE (dSPACE is a development and verification platform based on MATLAB/Simulink software.) was carried out. The validity of the adaptive NFTSM algorithm and the correctness of the offline simulation results are validated. The adaptive NFTSM algorithm have better robustness and can realize variable assist characteristics and save energy.
Highlights
The widespread traditional hydraulic power steering system (HPS) in heavy duty vehicles has some disadvantages
Compared with the non-singular terminal sliding mode control and the ordinary sliding mode control, the convergence speed has been improved by 66.7%
The results show that adaptive Non-singular Fast Terminal Sliding Mode (NFTSM) can make permanent magnetic slip clutch (PMSC) track the target speed quickly and has strong robustness
Summary
The widespread traditional hydraulic power steering system (HPS) in heavy duty vehicles has some disadvantages. HPS has a single assist characteristic and it wastes energy because the steering pump keeps running in a high speed regardless of its steering [1] To solve this problem, an electronically controlled hydraulic power steering based on a permanent magnetic slip clutch was proposed, which is referred to as P-ECHPS. Sliding Mode Control (SMC) is a kind of nonlinear control, which has the advantages of insensitivity to the parameter changes and disturbances, strong robustness and simple physical implementation, etc It is widely used in motor control [8]; the tracking error convergence to the zero point centre in a limited time is impossible, due to the sliding surface of traditional SMC is linear. NFTSM algorithm applied to the PMSC is proposed to precisely control the rotor speed of the PMSC, so as to achieve better control for the P-ECHPS. The validity of the adaptive NFTSM algorithm and the correctness of off-line simulation results are verified
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