汽车线控转向系统的路感反馈技术综述
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摘要
汽车线控转向系统取消了转向盘与转向轮之间的机械连接,通过力反馈装置提供转向时的转向盘阻力矩以实时提供路感反馈.路感反馈是线控转向系统的核心技术之一.总结了线控转向系统的国内外研究现状、实现线控转向系统路感反馈的几种典型结构和路感产生的机理,分析了线控转向系统路感反馈的多种控制算法和控制方法;研究了线控转向系统路感反馈的实验方法,为研发线控转向系统提供了参考.
Automobile steer by wire system disconnects the mechanical link between the steering wheel and steerable wheels so the reaction torque on the steering wheel should be provided by the torque feedback device to realize the road feel feedback real time when steering,which is one of the key technologies of steer by wire system.First,current status of steer by wire system at home and abroad are summarized.Then,several typical structures of steer by wire system are analyzed,followed by introduction of several road feel feedback control algorithms and control methods of steer by wire system.Finally,test methods of steer by wire system are presented.Our work provided a reference for further research of steer by wire system.
Automobile steer by wire system disconnects the mechanical link between the steering wheel and steerable wheels so the reaction torque on the steering wheel should be provided by the torque feedback device to realize the road feel feedback real time when steering,which is one of the key technologies of steer by wire system.First,current status of steer by wire system at home and abroad are summarized.Then,several typical structures of steer by wire system are analyzed,followed by introduction of several road feel feedback control algorithms and control methods of steer by wire system.Finally,test methods of steer by wire system are presented.Our work provided a reference for further research of steer by wire system.
引文
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[2]宋贵勇,张洪欣.常规转向系统的路感特性及其改善途径[J].上海汽车,2000(5):17-23.
[3]Bootz A,Nitzsche N.Vehicle steering system of the by-wire de-sign type:US,US8162095[P].2012-04-24.
[4]Peretti L,Zigliotto M.A force feedback system for steer-by-wire applications based on low-cost mr fluids design hints[C]//Sandy S.Power Electronics,Machines and Drives.London:theInstitution of Engineering and Technology,2006:469-473.
[5]Kaufmann T W,Petrowski J M,Millsap S A.Tactile feedbackcontrol for steer-by-wire systems:US,US20020103589[P].2002-08-01.
[6]Kelber C R,Webber D,Gomes,et al.Active steering unit withintegrated ACC for X-by-wire vehicles using ajoystick as H.M.I[C]//Proceedings of IEEE Intelligent Vehicles Symposium.Parma:Institute of Electrical and Electronics Engineers Inc.,2004:173-177.
[7]郑宏宇.基于线控转向系统二自由度的力输出操纵杆:中国,CN201210033849.X[P].2012-07-18.
[8]王德志.SBW试验台控制单元设计及分析[D].西安:长安大学,2009.
[9]王文冲.线控转向系统总体方案及控制方法研究[D].南京:南京理工大学,2007.
[10]Tian J,Wu J,Chen N,et al.Research on road feeling control ofsteer-by-wire system[C]//Wang S T.2011Second Internation-al Conference on Mechanic Automation and Control Engineer-ing.Hohhot:the Institute of Electrical and Electronics Engi-neers Inc,2011:4 349-4 353.
[11]Ba H N,Jee H R.Direct current measurement based steer-by-wire systems for realistic driving feeling[C]//Lee J J.IEEE In-ternational Symposium on Industrial Electronics.Seoul:Instituteof Electrical and Electronics Engineers Inc,2009:1 023-1 028.
[12]Bajcinca N,Nuthong C,Svaricek F.Road feedback estimationfor steer-by-wire control[C]//Andras V.Proceedings of 2006IEEE International Conference on Control Applications.Munich:Institute of Electrical and Electronics Engineers Inc,2006:1288-1 293.
[13]Mehdizadeh E,Kabganian M,Kazemi R.A new force feed-back for steer-by-wire vehicles via virtual vehicle concept[C]//Proceedings of 2011 50th IEEE Conference on Decision and Con-trol and European Control.Orlando:Institute of Electrical andElectronics Engineers Inc.,2011:2 281-2 286.
[14]Baviskar A,Wagner J R,Dawson D M,et al.An adjustablesteer-by-wire haptic-interface tracking controller for ground ve-hicles[J].IEEE Transactions on Vehicular Technology,2009,58(2):546-554.
[15]Mandhata U B,Jensen M J,Wagner J R,et al.Evaluation of acustomizable haptic feedback system for ground vehicle steer-by-wire interfaces[C]//Tariq S.Proceedings of the AmericanControl Conference.Montreal:Institute of Electrical and Elec-tronics Engineers Inc,2012:2 781-2 787.
[16]Hsiaohsiang N,Zong C F,Hu D.Investigations on corneringcontrol algorithm design and road feeling optimization for aSteer-By-Wire vehicle[C]//Toshio F.Proceedings of Interna-tional Conference on Mechatronics and Automation.Changchun:IEEE Computer Society,2009:3 246-3 251.
[17]郑宏宇,宗长富,王祥.汽车线控转向系统路感模拟方法[J].农业机械学报,2011,42(2):18-22.
[18]Bolourchi,Farhad.Feed forward feed back control for steer-by-wire system:US,US6625530[P].2003-09-23.
[19]赵苗苗,鲁植雄,田丰年,等.线控液压转向系统路感控制策略研究[J].中国农机化,2012(3):143-146.
[20]邱绪云,唐绍丰,曹亢子.线控转向系统路感PID控制仿真研究[J].山东交通学院学报,2008(2):5-10.
[21]王俊,杨胜兵,过学迅,等.线控转向系统路感模糊控制仿真分析[J].汽车工程师,2011(5):39-42.
[22]罗士军,胡静波,王同建,等.装载机线控转向路感控制策略[J].农业机械学报,2007,38(7):43-45.
[23]田杰,陈宁,吴瑾.基于分数阶PI～λD～μ控制器的线控转向系统路感研究[J].机械设计,2012(10):20-23.
[24]邱绪云,冯晋祥,于明进,等.车辆线控转向路感模拟控制研究[J].控制工程,2011(10):25-28.
[25]Gualino D,Adounkpe I J.Robust 2-DOF H∞controller for aforce feedback system[C]//Proceedings of IEEE InternationalConference on Control Applications.Singapore:Institute of E-lectrical and Electronics Engineers Inc.,2007:1 253-1 259.
[26]Mulder M,Abbink D A,Boer E R,et al.Human-centeredsteer-by-wire design:steering wheel dynamics should be task de-pendent[C]//Proceedings of 2012IEEE International Confer-ence on Systems,Man,and Cybernetics.Seoul:Institute of E-lectrical and Electronics Engineers Inc.,2012:3 015-3 019.
[27]穆桂脂.线控转向前轮转角控制策略硬件在环仿真研究[D].镇江:江苏大学,2009.
[28]郏国中,贾振华,吴心平.线控转向汽车的路感特性试验设计研究[J].拖拉机与农用运输车,2012(4):36-39.
[29]Bertacchini A,Tamagnini L P P.Force feedback in steer-by-wire systems:architecture and experimental results[C]//2006IEEE International Symposium on Industrial Electronics.Momn-treal:Institute of Electrical and Electronics Engineers Inc,2006:3 050-3 055.
[2]宋贵勇,张洪欣.常规转向系统的路感特性及其改善途径[J].上海汽车,2000(5):17-23.
[3]Bootz A,Nitzsche N.Vehicle steering system of the by-wire de-sign type:US,US8162095[P].2012-04-24.
[4]Peretti L,Zigliotto M.A force feedback system for steer-by-wire applications based on low-cost mr fluids design hints[C]//Sandy S.Power Electronics,Machines and Drives.London:theInstitution of Engineering and Technology,2006:469-473.
[5]Kaufmann T W,Petrowski J M,Millsap S A.Tactile feedbackcontrol for steer-by-wire systems:US,US20020103589[P].2002-08-01.
[6]Kelber C R,Webber D,Gomes,et al.Active steering unit withintegrated ACC for X-by-wire vehicles using ajoystick as H.M.I[C]//Proceedings of IEEE Intelligent Vehicles Symposium.Parma:Institute of Electrical and Electronics Engineers Inc.,2004:173-177.
[7]郑宏宇.基于线控转向系统二自由度的力输出操纵杆:中国,CN201210033849.X[P].2012-07-18.
[8]王德志.SBW试验台控制单元设计及分析[D].西安:长安大学,2009.
[9]王文冲.线控转向系统总体方案及控制方法研究[D].南京:南京理工大学,2007.
[10]Tian J,Wu J,Chen N,et al.Research on road feeling control ofsteer-by-wire system[C]//Wang S T.2011Second Internation-al Conference on Mechanic Automation and Control Engineer-ing.Hohhot:the Institute of Electrical and Electronics Engi-neers Inc,2011:4 349-4 353.
[11]Ba H N,Jee H R.Direct current measurement based steer-by-wire systems for realistic driving feeling[C]//Lee J J.IEEE In-ternational Symposium on Industrial Electronics.Seoul:Instituteof Electrical and Electronics Engineers Inc,2009:1 023-1 028.
[12]Bajcinca N,Nuthong C,Svaricek F.Road feedback estimationfor steer-by-wire control[C]//Andras V.Proceedings of 2006IEEE International Conference on Control Applications.Munich:Institute of Electrical and Electronics Engineers Inc,2006:1288-1 293.
[13]Mehdizadeh E,Kabganian M,Kazemi R.A new force feed-back for steer-by-wire vehicles via virtual vehicle concept[C]//Proceedings of 2011 50th IEEE Conference on Decision and Con-trol and European Control.Orlando:Institute of Electrical andElectronics Engineers Inc.,2011:2 281-2 286.
[14]Baviskar A,Wagner J R,Dawson D M,et al.An adjustablesteer-by-wire haptic-interface tracking controller for ground ve-hicles[J].IEEE Transactions on Vehicular Technology,2009,58(2):546-554.
[15]Mandhata U B,Jensen M J,Wagner J R,et al.Evaluation of acustomizable haptic feedback system for ground vehicle steer-by-wire interfaces[C]//Tariq S.Proceedings of the AmericanControl Conference.Montreal:Institute of Electrical and Elec-tronics Engineers Inc,2012:2 781-2 787.
[16]Hsiaohsiang N,Zong C F,Hu D.Investigations on corneringcontrol algorithm design and road feeling optimization for aSteer-By-Wire vehicle[C]//Toshio F.Proceedings of Interna-tional Conference on Mechatronics and Automation.Changchun:IEEE Computer Society,2009:3 246-3 251.
[17]郑宏宇,宗长富,王祥.汽车线控转向系统路感模拟方法[J].农业机械学报,2011,42(2):18-22.
[18]Bolourchi,Farhad.Feed forward feed back control for steer-by-wire system:US,US6625530[P].2003-09-23.
[19]赵苗苗,鲁植雄,田丰年,等.线控液压转向系统路感控制策略研究[J].中国农机化,2012(3):143-146.
[20]邱绪云,唐绍丰,曹亢子.线控转向系统路感PID控制仿真研究[J].山东交通学院学报,2008(2):5-10.
[21]王俊,杨胜兵,过学迅,等.线控转向系统路感模糊控制仿真分析[J].汽车工程师,2011(5):39-42.
[22]罗士军,胡静波,王同建,等.装载机线控转向路感控制策略[J].农业机械学报,2007,38(7):43-45.
[23]田杰,陈宁,吴瑾.基于分数阶PI～λD～μ控制器的线控转向系统路感研究[J].机械设计,2012(10):20-23.
[24]邱绪云,冯晋祥,于明进,等.车辆线控转向路感模拟控制研究[J].控制工程,2011(10):25-28.
[25]Gualino D,Adounkpe I J.Robust 2-DOF H∞controller for aforce feedback system[C]//Proceedings of IEEE InternationalConference on Control Applications.Singapore:Institute of E-lectrical and Electronics Engineers Inc.,2007:1 253-1 259.
[26]Mulder M,Abbink D A,Boer E R,et al.Human-centeredsteer-by-wire design:steering wheel dynamics should be task de-pendent[C]//Proceedings of 2012IEEE International Confer-ence on Systems,Man,and Cybernetics.Seoul:Institute of E-lectrical and Electronics Engineers Inc.,2012:3 015-3 019.
[27]穆桂脂.线控转向前轮转角控制策略硬件在环仿真研究[D].镇江:江苏大学,2009.
[28]郏国中,贾振华,吴心平.线控转向汽车的路感特性试验设计研究[J].拖拉机与农用运输车,2012(4):36-39.
[29]Bertacchini A,Tamagnini L P P.Force feedback in steer-by-wire systems:architecture and experimental results[C]//2006IEEE International Symposium on Industrial Electronics.Momn-treal:Institute of Electrical and Electronics Engineers Inc,2006:3 050-3 055.