Abstract: This article takes the pinion electric power steering (P-EPS) system as the research object. Currently, the modeling and simulation research of electric power steering systems are mostly based on mathematical models. Compared with the actual models, mathematical models often ignore the influence of actual parameters and have large deviations from the actual system. Based on the existing research on the control strategy of the axial electric steering system, a physical model of the P-EPS system is established using AMESim semi-physical simulation software. A control strategy of "three controls and two compensations" suitable for this system is proposed. Combined with the established semi-physical model, simulation research is carried out to verify its correctness and feasibility. The results show that the control performance of the P-EPS system built using AMESim is good and easy to implement, providing a reference for the further development of the control strategy of the P-EPS system.

Key words: pinion electric power steering; simulation research; control strategy; AMESim

摘要： 文章以小齿轮电动助力转向（P-EPS）系统为对象，目前电动助力转向系统的建模与仿 真研究多是建立在数学模型上，与实际模型相比，数学模型往往忽略了实际参数影响与实际 系统有较大偏差。结合目前电动转向系统控制策略已有研究基础，采用 AMESim 半物理仿真 软件建立了 P-EPS 系统的物理模型，并提出一种适合该系统的三控制两补偿的控制策略，结 合所搭建半物理模型进行了仿真研究，验证了其正确性和可行性。结果表明，应用 AMESim 搭建的 P-EPS 控制性能效果良好且易于实现，为 P-EPS 控制策略的进一步开发提供了参考依 据。

关键词: 小齿轮电动助力转向；仿真研究；控制策略；AMESim