Design And Verification Of EPS Test Bench Based On Moto Trom

Electric power steering system(EPS)has been using massively by the advantages which include energy saving,safety and environmental protection.Based on the design and development of EPS,our country has achieved a series of results in control algorithm and simulation test.But there is a big gap with foreign in the aspects of EPS performance test.In the development of EPS,the progress of the research can be improved and development time and cost can be saved by using bench,which is beneficial to production promotion.Bench test has the advantages of good comprehensive performance,non destruction,repeatable,safe,economic,controllable,and not limited by climatic conditions and site space.Therefore,this paper researched and designed the EPS test platform based on the MotoTron mainly.Firstly,the dynamic of EPS was analyzed,the seven-degree-of-freedom vehicle and the Dugoff tire model were established.The vehicle steering resistance moment was analyzed and the EPS dynamic characteristics were obtained.Secondly,the linear boosting characteristic curve was designed,the ESP which is based on power PID control and return PID control were studied.The control parameters were optimized,and the control strategy was designed finally.Jointing steering system model,vehicle model,tire model and controller model for simulation,the results show that the proposed method has satisfactory effect in the simulation of steering lightness and return to positive.Thirdly,MotoHawk,a rapid prototyping software developed by MotoTron platform,was used to design the EPS controller.the development environment and the underlying system settings was completed after selecting the ECU,setting up a communication link and defining the sensors and actuators and other peripheral circuit pins.The module in MotoHawk was used to complete the migration of control strategy.If the program is correct,the Greenhill and MotoTune were used to write program to complete the development of ECU.Finally,the EPS test bench was designed and tested.After selecting the key parts of the bench,the calibration test was carried out to obtain the output characteristic curve.Using PWM technology,H bridge to achieve the drive control of the power motor.The steering resistance torque was calculated by the EPS dynamic characteristic,and the load torque of the EPS motor was set up by using the servo motor output torque.The experimental results show that the designed controller and bench test were in good condition and the expected results were achieved.