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中文摘要：
文章运用多体动力学理论,建立了基于笛卡尔坐标的电动助力转向系统多刚体动力学模型和整车模型,在此基础上对EPS进行了助力控制研究,并利用多刚体动力学模型能够良好反映转向系统负载特性的特点,对EPS进行了回正控制研究;最后进行了基于Matlab的仿真和基于LabVIEW的实车硬件在环试验,验证了EPS的控制效果。
英文摘要：
Based on the multibody dynamics and Descartes-Coordinates method,a multibody dynamic model for electric power steering（EPS） system and a whole vehicle model are set up.Based on the models,the power assist control of EPS is analyzed.The returnability control is studied in view of the steering load characteristics which are well reflected by the multibody dynamic model.The simulation based on Matlab and the hardware-in-the-loop experiment based on LabVIEW are carried out in order to validate the control.
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