Electrohydraulic Power Steering Simulation : Dynamic, thermal and hydraulic modelling

Abstract: There are several benets of electrohydraulic power steering systems, as compared to hydraulicpower steering systems where the pump is driven directly by the engine of the vehicle. Someof these benets are increased eciency and improved steering performance. The purpose ofthis project is to create a simulation model of the electrohydraulic power steering system inSimulink, excluding the hydraulic circuit. The model should thus consist of the electric motor,the drive electronics, the control system, the hydraulic pump as well as the communication andinterface to the master simulation system in which the model will be used.As a start a mathematical model of the motor is derived. Then the motor controller includingtwo current controllers and a speed controller is developed. The switching signals for the threephase bridge that drives the motor are calculated using space vector modulation. The motordrives a hydraulic pump, which is modeled using data sheet eciency curves. Finally a thermalmodel of the drive is developed. To fulll real time requirements, a lumped parameter approachis chosen. The nal model is exported as a Functional Mock-up Unit, which is a black-boxencapsulation of the complete simulation model.The simulation model is compared to measurement data to conrm its validity. Thesecomparisons shows that the dynamic response of the motor and its controller are close to themeasured values and that the thermal model adequately corresponds to the thermal tests. Thehydraulic pump model varied from measurements more than the other sub-modules. It was,however, seen as acceptable. Overall the system response was satisfactory, but naturally a lotof future improvements and new features could be made to improve the model.