Sustav upravljanja električnom letvom volana

master's thesis

• Title (english): Control of Electric Power Steering System
• Author: Ivan Ćaćić
• Mentor: Jadranko Matuško (mentor)
• Committee member: Jadranko Matuško (predsjednik povjerenstva)
• Committee member: Šandor Ileš (član povjerenstva)
• Committee member: Željko Jakopović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2018-07-18, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Električne letve volana korištene su u automobilskoj industriji. Namjena takvih sustava je smanjiti napon vozača pri okretanju volana s istim odzivom. Električne letve volana mijenjaju hidrauličke. Jedna od prednosti električne letve volana je lako podešavanje. Ovaj rad pokazuje metode projektiranja regulatora za takav sustav. Dan je matematički model. Nelinearna funkcija asistiranog okretnog momenta je definirana. Ona određuje moment generiran električnim motorom. Ulaz funkcije je izmjereni moment između volana i stupa volana izmjerenim pomoću senzora. Nelinearnost funkcije i visoko pojačanje za niske brzine kretanja vozila čini sustav nestabilnim. Dodatni kompenzacijski članovi su dodani unutar regulatora kako bi eliminirali neželjene oscilacije. Regulator je simuliran u MATLAB/Simulinku.

Abstract (english)

Electric power steering system is used in the automotive industry. The purpose of such a system is to reduce driver’s effort to turn the steering wheel with the same response. Electric power systems are replacing hydraulic power systems. One advantage of electric is easy tuning. This thesis shows methods of designing a controller for such systems. A mathematical model of the system is introduced. A nonlinear assist torque map is defined which determines the torque generated by the electrical drive. The input of the torque map is torque measured between the steering wheel and the steering column via a torque sensor. The nonlinearity of this map and a high gain at low speeds makes this system unstable. Additional compensators are added to the controller to eliminate unwanted oscillations. The controller is simulated in MATLAB/Simulink.

• Keywords: projektiranje regulatora; elektronička letva volana; korekcijski član s faznim pethođenjem (kašnjenjem); nelinearni sustav
• Keywords (english): controller design; electric power steering (EPS); lead-lag compensator; nonlinear system
• Language: croatian
• URN:NBN: urn:nbn:hr:168:878885
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2019-03-13 19:49:49