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1 电动助力器结构及其数学模型
1.1 电动助力器结构
Fig.1 Simple structure of electric booster
1.2 电动助力器数学模型
Fig.2 Equivalent circuit diagram of a brushless DC motor star
Fig.3 Static friction+Coulomb friction+viscous friction model
2 踏板脚感抖动抑制方法及算法
2.1 踏板脚感抖动抑制方法提出
Fig.4 Pedal displacement and master cylinder oil pressure curve
2.2 踏板脚感抖动抑制算法
Fig.5 Three closed loop control frame based on corner outer loop
Fig.6 Correspondence between pedal force and pedal displacement
Fig.7 The calculation schematic diagram of angle compensation
Fig.8 Flow chart of pedal foot feeling jitter suppression algorithm
3 仿真分析
3.1 仿真参数
Tab.1 PI parameters of motor corner loop and speed loop
Tab.2 Electric booster simulation parameters
3.2 结果分析
Fig.9 Master cylinder oil pressure response
Fig.12 Motor torque spectrum
Fig.11 Motor torque response
Fig.13 Pedal displacement jitter amount
Tab.3 The analysis result of pedal displacement jitter amount
Fig.10 Motor rotation angle adjustment
