【摘要】 电动助力转向(electric power steering, EPS)系统具有非线性和时变性，采用常系数补偿无法实现对转矩的准确跟踪，影响驾驶员手感。文章采用滑模控制器准确跟踪电流，并设计补偿算法，利用带遗忘因子的递推最小二乘(recursive least squares, RLS)算法对助力装置进行在线参数辨识，并将辨识得到的结果进行补偿控制，在参数缓慢变化的条件下实现EPS对转矩的准确跟踪。更多还原

【Abstract】 Electric power steering(EPS) system is nonlinear and time-varying. Constant coefficient compensation cannot track the torque accurately, which affects the driver’s hand feeling. In this paper, the sliding mode controller is used to track the current accurately, and the compensation algorithm is designed. The recursive least squares(RLS) algorithm with forgetting factor is used to identify the parameters of the power assist device online, and the identified results are compensated. The EPS can accurately track the torque when the parameters change slowly.更多还原