电动助力转向系统建模

汽车电动助力转向系统建模，此模型为无助力时模型仿真，包括电机模型方向盘模型等

clc;
clear;
A=[01000;-435.7-7.86435.700;00010;11.10-45.4-10.10.3;66666.70-66666.7-400-100];
B=[0;21.8;0;0;0];C=[200-2000];D=0;
G=ss（ABCD）;%%输入并显示系统状态空间方程
% zpk（G）
s=tf（‘s‘）;%%定义Laplace算子s
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%   Rubust  GAM=0.9927   %%%%%%%%%%%%%%
W1=87*（10^-3*s+1）/（2*s+1）;
W2=0.1;
W3=0.1*（10^-2*s+1）/（10^-4*s+1）;
[GcCLGAM]=mixsyn（GW1W2W3）;
a=Gc.A;
b=Gc.B;
c=Gc.C;
d=Gc.D;
disp（‘THE γ is‘）
GAM
zpk（Gc）
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%% no control model parameter %%%%%%%%%%%
G=30;
Ks=20;
Ka=5;
Js=0.0459;
Bs=0.361;
Ke=0.02;
Kt=0.02;
Kc=62.22;
Jm=0.002;
Jc=0.01;
Bm=0.02;
Bc=0.3;
L=0.0015;
R=0.15;
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%

 属性            大小     日期    时间   名称
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     文件        825  2011-11-01 17:01  无助力时的阶跃响应（图4-6）\noassistpara.m

     文件      38791  2011-12-06 09:57  无助力时的阶跃响应（图4-6）\nocontrolmodel.mdl

     目录          0  2012-09-12 09:31  无助力时的阶跃响应（图4-6）

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