线控转向车辆转向盘转矩特性研究
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摘要
车辆线控转向系统取消了转向盘与转向轮之间的部分机械连接,车辆转向阻力矩无法直接反馈给驾驶员。从驾驶员偏好转向盘转矩的角度出发,在分析转向盘转矩影响因素的基础之上,提出一种考虑摩擦力矩、阻尼控制力矩、限位控制力矩以及主动回正力矩的线控转向系统转向盘转矩的模型,并通过试验数据对模型中的参数进行辨识。选取双纽线试验和中心区特性试验等进行仿真分析和硬件在环验证。结果表明,所建立的转向盘转矩模型能够保证低速时的转向轻便和高速时的路感清晰,并且很好地描述了车辆在不同行驶工况下的转向盘转矩特性,充分发挥了线控转向车辆转向盘转矩可以根据驾驶员需求自由设计的优势。
Since the partial mechanical connections between the steering wheel and the front steering wheels cancelled, the steering resistance torque of the Steer-By-Wire vehicle can't be directly feedback to the driver. From the perspective of the driver's preferences steering wheel torque, and based on analyzing the influence factors of steering torque, a steering torque model of the steer-by-wire has been established by considering the friction torque, damping control moment, limit control torque and active return moment. And the parameters in the model are identified by the experimental data. The lemniscate test, on-center characteristics test and other tests are carried out through simulation analysis and hardware-in-the-loop validation. The results show that the steering wheel torque model can not only ensure steering portability at low speed and steering feel clear at high speed, but also describe steering wheel torque characteristics well at different driving conditions. It gives full play to the advantages that steering torque of steer-by-wire vehicle can be designed freedom according to the needs of drivers.
Since the partial mechanical connections between the steering wheel and the front steering wheels cancelled, the steering resistance torque of the Steer-By-Wire vehicle can't be directly feedback to the driver. From the perspective of the driver's preferences steering wheel torque, and based on analyzing the influence factors of steering torque, a steering torque model of the steer-by-wire has been established by considering the friction torque, damping control moment, limit control torque and active return moment. And the parameters in the model are identified by the experimental data. The lemniscate test, on-center characteristics test and other tests are carried out through simulation analysis and hardware-in-the-loop validation. The results show that the steering wheel torque model can not only ensure steering portability at low speed and steering feel clear at high speed, but also describe steering wheel torque characteristics well at different driving conditions. It gives full play to the advantages that steering torque of steer-by-wire vehicle can be designed freedom according to the needs of drivers.
引文
[1]章仁燮,熊璐,余卓平.智能车辆转向轮转角主动控制[J].机械工程学报,2017,53(14):106-113.ZHANG Renxie,XIONG Lu,YU Zhuoping.Active steering angle control for intelligent vehicle[J].Journal of Mechanical Engineering,2017,53(14):106-113.
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[10]余志生.车辆理论[M].5版.北京:机械工业出版社,2009.YU Zhisheng.Automobile theory[M].5th ed.Beijing:Mechanical Industry Press,2009.
[11]任夏楠,邓兆祥.驾驶员理想转向盘转矩特性研究[J].中国机械工程,2014(16):2261-2265.REN Xianan,DENG Zhaoxiang.Research on ideal steering wheel effort characteristics of driver[J].China Mechanical Engineering,2014(16):2261-2265.
[12]JIANG Yuyao,DENG Weiwen,ZHANG Sumin,et al.Studies on influencing factors of driver steering torque feedback[J].SAE Technical Paper 2015-01-1498.
[13]宗长富,麦莉,王德平,等.基于驾驶模拟器的驾驶员所偏好的转向盘转矩特性研究[J].中国机械工程,2007,18(8):1001-1005.ZONG Changfu,MAI Li,WANG Deping.Study on steering effort preference of drivers based on driving simulator[J].China Mechanical Engineering,2007,18(8):1001-1005.
[14]邢海涛.车辆线控转向系统补偿控制方法研究和验证[D].长春:吉林大学,2013.XING Haitao.Research on compensation control method for vehicle steer-by-wire system[D].Changchun:Jilin University,2013.
[15]周兵,范璐,吕绪宁.主动前轮转向系统改进型变传动比曲线设计[J].中国机械工程,2014(20):2813-2818.ZHOU Bin,FAN Lu,LüXuning.Design of modified variable steering ratio curve for active front steering system[J].China Mechanical Engineering,2014(20):2813-2818.
[16]宗长富,韩衍东,何磊,等.车辆线控转向变角传动比特性研究[J].中国公路学报,2015,28(9):115-120.ZONG Changfu,HAN Yandong,HE Lei,et al.Research on variable angle transmission ratio characteristic for automobile with sbw[J].China Journal of Highway and Transport,2015,28(9):115-120.
[17]胡长健.电动轮驱动车辆的驱动力助力转向技术研究[D].长春:吉林大学,2008.HU Changjian.Study of PS driving force for electric motorized vehicle[D].Changchun:Jilin University,2008.
[2]RATH M,KELLY M,KOBER K,et al.Optimum design of a steer by wire system using systematic system engineering approach[J].SAE International Journal of Passenger Cars-Electronic and Electrical Systems,2008,1(1):553-556.
[3]HAYAMA R,KAWAHARA S,NAKANO S,et al.Resistance torque control for steer-by-wire system to improve human-machine interface[J].Vehicle System Dynamics International Journal of Vehicle Mechanics&Mobility,2010,48(9):1065-1075.
[4]HIBI M,KOBUNE T,MIKI D,et al.A study on steering reactive torque for steer-by-wire vehicle using driving simulator[M]//Proceedings of the FISITA 2012 World Automotive Congress,2013:237-246.
[5]MEHDIZADEH E,KABGANIAN M,KAZEMI R.Anew force feedback for steer-by-wire vehicles via virtual vehicle concept[C]//Decision and Control and European Control Conference(CDC-ECC),2011 50th IEEEConference on.IEEE,2011:2281-2286.
[6]FANKEM S,MULLER S.A new model to compute the desired steering torque for steer-by-wire vehicles and driving simulators[J].Vehicle System Dynamics,2014,52(suppl.):251-271.
[7]BALACHANDRAN A,GERDES J C.Designing steering feel for steer-by-wire vehicles using objective measures[J].IEEE/ASME Transactions on Mechatronics,2015,20(1):373-383.
[8]解后循,高翔,夏长高.基于综合路感强度的方向盘转向力矩特性分析[J].机械科学与技术,2012,31(7):1104-1109.XIE Houxun,GAO Xiang,XIA Changgao.Characteristic analysis of steering wheel desired torque based on comprehensive road feel[J].Mechanical Science and Technology for Aerospace Engineering,2012,31(7):1104-1109.
[9]郑宏宇,宗长富,何磊,等.基于电动助力转向的线控转向车辆路感反馈控制[J].吉林大学学报,2013,43(1):1-5.ZHENG Hongyu,ZONG Changfu,HE Lei,et al.Road feel feedback control for steer by wire system based on electric power steering[J].Journal of Jilin University,2013,43(1):1-5.
[10]余志生.车辆理论[M].5版.北京:机械工业出版社,2009.YU Zhisheng.Automobile theory[M].5th ed.Beijing:Mechanical Industry Press,2009.
[11]任夏楠,邓兆祥.驾驶员理想转向盘转矩特性研究[J].中国机械工程,2014(16):2261-2265.REN Xianan,DENG Zhaoxiang.Research on ideal steering wheel effort characteristics of driver[J].China Mechanical Engineering,2014(16):2261-2265.
[12]JIANG Yuyao,DENG Weiwen,ZHANG Sumin,et al.Studies on influencing factors of driver steering torque feedback[J].SAE Technical Paper 2015-01-1498.
[13]宗长富,麦莉,王德平,等.基于驾驶模拟器的驾驶员所偏好的转向盘转矩特性研究[J].中国机械工程,2007,18(8):1001-1005.ZONG Changfu,MAI Li,WANG Deping.Study on steering effort preference of drivers based on driving simulator[J].China Mechanical Engineering,2007,18(8):1001-1005.
[14]邢海涛.车辆线控转向系统补偿控制方法研究和验证[D].长春:吉林大学,2013.XING Haitao.Research on compensation control method for vehicle steer-by-wire system[D].Changchun:Jilin University,2013.
[15]周兵,范璐,吕绪宁.主动前轮转向系统改进型变传动比曲线设计[J].中国机械工程,2014(20):2813-2818.ZHOU Bin,FAN Lu,LüXuning.Design of modified variable steering ratio curve for active front steering system[J].China Mechanical Engineering,2014(20):2813-2818.
[16]宗长富,韩衍东,何磊,等.车辆线控转向变角传动比特性研究[J].中国公路学报,2015,28(9):115-120.ZONG Changfu,HAN Yandong,HE Lei,et al.Research on variable angle transmission ratio characteristic for automobile with sbw[J].China Journal of Highway and Transport,2015,28(9):115-120.
[17]胡长健.电动轮驱动车辆的驱动力助力转向技术研究[D].长春:吉林大学,2008.HU Changjian.Study of PS driving force for electric motorized vehicle[D].Changchun:Jilin University,2008.