摘要
文章以建立的七自由度非线性车辆模型、线控转向模型、轮胎模型和转向阻力矩模型作为动力学研究基础,基于LabVIEW PXI开发了汽车线控转向(steer-by-wire,SBW)系统硬件在环试验台,其总体结构包括转向盘总成、转向执行总成、控制器、信息采集系统以及阻力模拟系统;通过LabVIEW中建立的数据传输模块将CarSim输出数据与传感器采集数据快速传递给控制器,实现对路感电机和阻尼模拟伺服电机的转矩控制。对转向盘和转向轮分别进行的路感模拟试验和负载模拟试验结果表明,转向盘转矩和转向轮负载力矩都能较好地模拟出车辆实际的变化情况,且力矩变化具有较好的一致性,通过转向盘能够间接感知前轮转向负载的变化情况。
This paper first establishes a 7-DOF nonlinear vehicle model,a linear steering model,a tire model and a steering resistance torque model as the basis for dynamics research,and then develops a steer-by-wire(SBW)system based on LabVIEW PXI.The hardware-in-the-loop test bench has a general structure including a steering wheel assembly,a steering execution assembly,a controller,an information acquisition system and a resistance simulation system.Through the data transmission module established in LabVIEW,CarSim output data and sensor acquisition data are quickly transmitted to the controller to realize torque control of the road feeling motor and the damping analog servo motor.Finally,the roadway simulation test and load simulation test are carried out on the directive wheel and the steering wheel respectively.The results show that the steering wheel torque and the directive wheel load torque can better simulate the actual change of the vehicle,and the torque variation has better consistency,through the steering wheel the change of the front wheel steering load can be indirectly sensed.
作者
赵林峰
陈会义
付靖轩
马冠举
朱志文
陈皖湘
ZHAO Linfeng;CHEN Huiyi;FU Jingxuan;MA Guanju;ZHU Zhiwen;CHEN Wanxiang(School of Automobile and Traffic Engineering, Hefei University of Technology, Hefei 230009, China)
出处
《合肥工业大学学报（自然科学版）》
CAS
北大核心
2021年第3期311-316,共6页
Journal of Hefei University of Technology：Natural Science
基金
中央高校基本科研业务费专项资金资助项目(JZ2019YYPY0019)
国家级大学生创新创业训练计划资助项目(201810359068)。
关键词
线控转向(SBW)系统
硬件在环
模拟
路感
转向负载
steer-by-wire(SBW)system
hardware-in-the-loop
simulation
road feeling
steering load
