Abstract: Aiming at the status of the different input handling and stability of vehicle steering disc jitter adverse effects，EPS model combined with vehicle dynamics model of 12 degrees of freedom，while the introduction of tire model and road model of shimmy system based on the establishment of a complete simulation model of the steering system to improve the road excitation input.To eliminate the influence of road excitation input steering performance based on the purpose of the design of sliding mode controller reaching rate tracking filter based on the motor current，the adverse effects of pavement impact was weakened.The simulation model is established to analyze the vehicle stability under different road conditions.The establishment of the simulation model by Matlab/Simulink.The simulation results show that the EPS motor control system designed in this paper can effectively weaken the random road excitation on steering system performance to produce adverse effects and improve the operation stability of vehicles.

Key words: vehicle engineering；pavement input;power steering, SMC based on reaching law;operation stability

摘要： 针对不同路面输入状况对汽车操作稳定性产生的使转向盘产生抖动的不良影响，将EPS动力学模型与整车12自由度模型相结合，同时引入基于摆振系统的轮胎模型和路面激励模型，建立完善的由转向系统到路面激励输入的完整仿真模型。基于消除路面激励输入对转向性能产生影响的目的，设计了基于趋近率的滑膜控制器跟踪助力电机电流，减弱路面冲击产生的不良影响。建立仿真模型，分析不同路面状况下车辆的操作稳定性。通过MATLAB/Simulink建立仿真模型，仿真结果验证了设计的EPS电机控制系统可以有效减弱路面随机激励对转向系统性能产生的不良影响，提高了车辆的操作稳定性。

关键词: 车辆工程, 路面随机输入, 助力转向, 基于趋近率的滑模控制, 汽车操纵稳定性