对电动助力转向系统的原地转向阻力矩、车辆一般行驶工况转向阻力矩和稳态圆周形式3种工况下的转向阻力矩进行分析和研究,得到电动助力转向系统的助力特性,在此基础上提出理论和实测两种齿条力解决方案,并对967、1057、1082、1152、1192...对电动助力转向系统的原地转向阻力矩、车辆一般行驶工况转向阻力矩和稳态圆周形式3种工况下的转向阻力矩进行分析和研究,得到电动助力转向系统的助力特性,在此基础上提出理论和实测两种齿条力解决方案,并对967、1057、1082、1152、1192 kg 5种前轴载荷下的最大齿条力进行了测试。理论和实测结果均表明,原地转向最大齿条力和前轴载荷之间具有很强的线性关系,最大齿条力对前轴载荷的依赖性强。根据最大齿条力的测试结果,利用电机特性与负载分离法对转向助力电机进行校核。结果表明:4.6 N·m的电机可以满足某车型7900 N齿条力的要求。展开更多
针对人机协同转向控制中对于驾驶员参与和驾驶员状态考虑较少这一问题,提出一种基于驾驶员状态预测的人机力矩协同(human-vehicle torque collaborative based on driver state prediction,HVTC-DSP)转向控制方法.该方法以力矩为人机交...针对人机协同转向控制中对于驾驶员参与和驾驶员状态考虑较少这一问题,提出一种基于驾驶员状态预测的人机力矩协同(human-vehicle torque collaborative based on driver state prediction,HVTC-DSP)转向控制方法.该方法以力矩为人机交互接口,提高了驾驶员的参与程度;同时,在控制器设计过程中采用模型预测控制方法,将驾驶员状态考虑在内,对驾驶员状态进行预测.采用高精度车辆仿真软件veDYNA进行仿真验证,结果表明,与不考虑驾驶员状态的人机协同力矩(human-vehicle torque collaborative based on no driver state prediction,HVTC-NDSP)转向控制方法相比,所提方法可以使辅助力矩更好地跟随驾驶员动作,提高车辆转向性能,减小侧向位移偏差,同时对不同驾驶员也有较好的适应性.进而,以驾驶员下一步动作为参考,使驾驶员当前力矩尽可能接近下一步期望的力矩,在转向性能几乎不受影响的情况下,适当减轻驾驶员操作负担.展开更多
Active front steering(AFS)system has been used as a promising technology which improves the steering portability and handing stability of vehicles.It employs a steering motor to realize the functions of variable steer...Active front steering(AFS)system has been used as a promising technology which improves the steering portability and handing stability of vehicles.It employs a steering motor to realize the functions of variable steering ratio and vehicle stability control.However,it has a serious problem of unexpected reaction hand wheel torque caused by the additional steering angle.In this paper,the optimum hand wheel torque is designed based on the linear tire model.Considering the uncertainty and disturbance of the steering system and vehicle,an H∞controller is developed to make sure the hand wheel torque follows the reference torque accurately and quickly.The simulation shows that the proposed controller can compensate the unnatural reaction torque and provide a good steering feel for the driver.展开更多
文摘对电动助力转向系统的原地转向阻力矩、车辆一般行驶工况转向阻力矩和稳态圆周形式3种工况下的转向阻力矩进行分析和研究,得到电动助力转向系统的助力特性,在此基础上提出理论和实测两种齿条力解决方案,并对967、1057、1082、1152、1192 kg 5种前轴载荷下的最大齿条力进行了测试。理论和实测结果均表明,原地转向最大齿条力和前轴载荷之间具有很强的线性关系,最大齿条力对前轴载荷的依赖性强。根据最大齿条力的测试结果,利用电机特性与负载分离法对转向助力电机进行校核。结果表明:4.6 N·m的电机可以满足某车型7900 N齿条力的要求。
文摘针对人机协同转向控制中对于驾驶员参与和驾驶员状态考虑较少这一问题,提出一种基于驾驶员状态预测的人机力矩协同(human-vehicle torque collaborative based on driver state prediction,HVTC-DSP)转向控制方法.该方法以力矩为人机交互接口,提高了驾驶员的参与程度;同时,在控制器设计过程中采用模型预测控制方法,将驾驶员状态考虑在内,对驾驶员状态进行预测.采用高精度车辆仿真软件veDYNA进行仿真验证,结果表明,与不考虑驾驶员状态的人机协同力矩(human-vehicle torque collaborative based on no driver state prediction,HVTC-NDSP)转向控制方法相比,所提方法可以使辅助力矩更好地跟随驾驶员动作,提高车辆转向性能,减小侧向位移偏差,同时对不同驾驶员也有较好的适应性.进而,以驾驶员下一步动作为参考,使驾驶员当前力矩尽可能接近下一步期望的力矩,在转向性能几乎不受影响的情况下,适当减轻驾驶员操作负担.
基金supported by the National Natural Science Foundation of China(Grant Nos.51375007 and 51205191)NUAA Research Funding(Grant No.NS2013015)
文摘Active front steering(AFS)system has been used as a promising technology which improves the steering portability and handing stability of vehicles.It employs a steering motor to realize the functions of variable steering ratio and vehicle stability control.However,it has a serious problem of unexpected reaction hand wheel torque caused by the additional steering angle.In this paper,the optimum hand wheel torque is designed based on the linear tire model.Considering the uncertainty and disturbance of the steering system and vehicle,an H∞controller is developed to make sure the hand wheel torque follows the reference torque accurately and quickly.The simulation shows that the proposed controller can compensate the unnatural reaction torque and provide a good steering feel for the driver.
