为了获取精确的电动助力转向系统(EPS)状态变量,提出了3种状态观测器,分别为4阶、5阶和6阶的全维观测器.5阶全维观测器加入干扰,6阶全维观测器加入了干扰及干扰变化率.利用MATLAB/Simulink环境对EPS系统进行仿真,利用dSPACE进行硬件在环实验,比较了3种用于EPS系统的状态观测器.实验结果表明,即使在有干扰的情况下,带有5阶全维观测器估算的输入状态量误差最小.“,”To achieve precise state variables of Electric Power Steering (EPS) system,three observers were proposed about 4th order,5th order and 6th order.Disturbance was added to 5th order observer.Disturbance and the rate of disturbance were appended to 6th order observer.Simulations about EPS system in MATLAB/Simulink was conducted.The experiment was investigated in dSPACE by hardware in the loop (HIL) simulation test technology.Three observers for the EPS system and evaluates them through simulations and experiments were compared.Experiments show that 5th order observer can estimate the input state variable with minimum error and noise,even though disturbance exists.