基于LuGre模型的商用车转向盘操纵阻力矩研究
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摘要
为研究商用车转向盘阻力矩,在商用车转向动力学分析中引入了LuGre模型,建立了轮胎回正力矩和转向摩擦阻力矩模型以及转向盘阻力矩模型。借助该模型对CA1045轻型货车转向盘操纵阻力矩与转向角、车速的关系进行了分析,仿真与实车试验结果对比表明,仿真与试验得到的转向阻力矩差异在5 N·m以内。
To study the resistance torque of the steering wheel of a commercial vehicle, the LuGre model is introduced into the steering dynamics analysis of a commercial vehicle, and the model for aligning torque and steering friction resistance torque of tire and the resistance torque model of steering wheel are established. With these models the relationship among steering resistance torque, steering angle and vehicle speed of a CA1045 light truck is analyzed. The comparison between the results of simulation and real vehicle test shows that their difference in steering resistance torque is less than 5 N·m.
To study the resistance torque of the steering wheel of a commercial vehicle, the LuGre model is introduced into the steering dynamics analysis of a commercial vehicle, and the model for aligning torque and steering friction resistance torque of tire and the resistance torque model of steering wheel are established. With these models the relationship among steering resistance torque, steering angle and vehicle speed of a CA1045 light truck is analyzed. The comparison between the results of simulation and real vehicle test shows that their difference in steering resistance torque is less than 5 N·m.
引文
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[2] FANKEM S,MüLLER S.Steering feel generation in steer-by-wire vehicles-modular steering torque computation and requirements for the hand wheel actuator[M].5th International Munich Chassis Symposium 2014.Springer Fachmedien Wiesbaden,2014:471-528.
[3] SONG S H,AHN M,KIM K,et al.Performance analysis of EKF and UKF for estimating tire longitudinal and side angle slip[J].MATEC Web of Conferences,2016,70:04002.
[4] STRANO S,TERZO M.Constrained nonlinear filter for vehicle sideslip angle estimation with no a priori knowledge oftyre characteristics [J].Control Engineering Practice,2018,71:10-17.
[5] MU Yu,LI Ling,SHI Shuming.Modified tire-slip-angle model for chaotic vehicle steering motion [J].Automotive Innovation,2018,1(2):177-186.
[6] IKEDA Y,KATO A,KOHJIYA S,et al.Pneumatic tire technology [J].2018,10,1007/978-981-10-2938-7(Chapter 5):155-191.
[7] 郭孔辉,卢荡,吴海东.轮胎动力学协同发展策略研究[J].中国工程科学,2018,20(1):91-96.
[8] CANUDAS-DE-WIT C,TSIOTRAS P,VELENIS E,et al.Dynamic friction models for road/tire longitudinal interaction [J].Vehicle System Dynamics,2003,39(3):189-226.
[9] 《汽车工程手册》编辑委员会.汽车工程手册:设计篇[M].北京:人民交通出版社,2001.
[10] 张小江,丁宏刚,朱亚夫,等.重型车辆轮胎原地转向阻力矩研究[J].机械设计与制造,2013(1):217-219.
[11] 朱先民.蓄能式电液助力转向系统动态混合仿真试验台开发[D].北京:清华大学,2017.