摘要
线控转向系统取消了转向盘和转向轮的机械连接,由控制算法折算转向电机驱动转矩并通过电控实现传动比的改变。针对实际转向过程中存在的转向过度或转向不足等问题,本文中在动态输出反馈控制框架下,根据车辆运动学和动力学理论,结合车辆2自由度模型提出了基于行驶场景模型的角传动比动态协调控制机制,建立了线控辅助转向系统的转角控制算法。最终通过转向过程中的速度、加速度、横摆角速度和轨迹的仿真,并与其它转向控制算法和机械转向进行对比,验证了系统对转向过程主动调控和施加补偿或修正控制的有效性与实时性。
Steering-by-wire system eliminates the mechanical connection between steering wheel and front wheel,and its control algorithm calculates the driving torque of steering motor to realize the change of transmission ratio through electric control.Aiming at the problem of oversteer or understeer in real steering process,under the feedback control framework of dynamic output and based on the theories of kinematics and kinetics and the 2-DOF model of vehicle,an angular gear ratio dynamic coordinated control mechanism based on driving scene model is proposed in this paper with a rotation angle control algorithm for steering-by-wire assistant system established.Finally a simulation on the velocity,acceleration,yaw rate and trajectory in steering process is conducted and its results are compared with other steering control algorithms and mechanical steering,which verify the effectiveness and real-time performance of the system in active control,compensation and correction of steering process.
作者
高振海
孙天骏
何磊
Gao Zhenhai;Sun Tianjun;He Lei(Jilin University,State Key Laboratory of Automobile Simulation and Control,Changchun 130022)
出处
《汽车工程》
EI
CSCD
北大核心
2018年第8期960-966,共7页
Automotive Engineering
基金
国家自然科学基金(51505179和51775236)和吉林省工业创新专项基金项目(2017C045-1)资助。
