• CN:11-2187/TH
  • ISSN:0577-6686

机械工程学报 ›› 2019, Vol. 55 ›› Issue (16): 148-158.doi: 10.3901/JME.2019.16.148

• 运载工程 • 上一篇    下一篇

低附着路面条件的线控转向系统路感模拟与回正控制研究

谢有浩1,2, 赵林峰3, 陈无畏3, 刘彦琳3   

  1. 1. 滁州学院机械与电气工程学院 滁州 239000;
    2. 安徽猎豹汽车有限公司 滁州 239064;
    3. 合肥工业大学汽车与交通工程学院 合肥 230009
  • 收稿日期:2018-11-06 修回日期:2019-06-20 出版日期:2019-08-20 发布日期:2019-08-20
  • 通讯作者: 赵林峰(通信作者),男,1979年出生,博士,副教授,硕士研究生导师。主要研究方向为动力学与技术。E-mail:zhao.lin.feng@163.com
  • 作者简介:谢有浩,男,1975年出生,教授级高工。主要研究方向为汽车智能化和制造技术。E-mail:cfyzxyh@163.com;陈无畏,男,1951年出生,博士,教授,博士研究生导师。主要研究方向为车辆动力学与控制。E-mail:hfgdcjs@126.com
  • 基金资助:
    安徽省科技重大专项(17030901060)、江苏省道路运载工具新技术应用重点实验室开放课题(BM20082061703)和国家自然科学基金(51675151,61673154)资助项目。

Road Feel and Return Control on Low Friction Coefficient Road for Steer-by-wire Vehicles

XIE Youhao1,2, ZHAO Linfeng3, CHEN Wuwei3, LIU Yanlin3   

  1. 1. College of Mechanical and Electric Engineering, Chuzhou University, Chuzhou 239000;
    2. Anhui Leopaard Automobile Co., Ltd., Chuzhou 239064;
    3. School of Automotive and Transportation Engineering, Hefei University of Technology, Hefei 230009
  • Received:2018-11-06 Revised:2019-06-20 Online:2019-08-20 Published:2019-08-20

摘要: 线控转向取消转向盘与转向车轮之间的机械连接,车辆转向阻力矩无法直接反馈给驾驶员。在分析传统车辆路感产生原理的基础之上,利用电流传感器测得的转向电机电流来等效路面负载,实现对线控转向系统路感的自行设计。通过建立线控转向系统模型并利用回正力矩信息,考虑车辆自回正力矩在低附着路面上会显著降低的特点,提出一种新的回正控制策略,该策略运用扩展卡尔曼滤波算法,对路面附着系数进行估计,并根据不同的路面附着系数来设计不同的回正电流,以使得所设计的线控转向系统在各种路面上都具有较好的回正性能。最后,对所提出的方法进行仿真和硬件在环试验分析,其结果表明,所设计的路感能够很好地满足驾驶员的操纵需求,并且所设计的回正控制策略在低附着系数路面上能够明显改善驾驶员对路感的感知。

关键词: 材料去除机理, 超声划痕, 工艺特征, 铝基碳化硅, 旋转超声加工, 电流传感器, 回正控制, 路面附着系数, 线控转向

Abstract: Since the partial mechanical connections between the steering wheel and the front wheels are cancelled in the steer-by-wire(SBW) system, the steering resistance torque of vehicle can't be directly feedback to the driver. Based on the analysis of the generation principle of the traditional vehicle road feeling, the steering motor current measured by current sensor is used to be as equivalent the road load, and the self-design of road feeling of SBW is realized. By establishing the model of SBW and utilizing the information of the self-aligning torque, considering that the self-aligning torque of vehicle will decrease significantly on low friction coefficient road, a new returning control strategy is proposed, which uses the extended Kalman filter algorithm to estimate the road adhesion coefficient, and designs different return current according to different road adhesion coefficient, so as to make sure that the designed SBW system has good return ability on all kinds of pavement. Finally, the simulation and the hardware-in-the-loop test are implemented to verify the method, the results show that the designed road feeling satisfy the driver's handling needs well. The returning control strategy proposed in this paper greatly improves the driver's perception of road feeling on low friction coefficient road.

Key words: Material removal mechanism, process characteristics, Rotary Ultrasonic Machining, SiCp/Al, Ultrasonic scratching, current sensor, return control, road adhesion coefficient, steer-by-wire

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