汽车EPS助力特性设计方法研究
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摘要
对汽车转向系统进行受力分析,建立了不同工况下的转向盘阻力矩模型。提出了一种驾驶员理想转向盘力矩参数化特性模型,并在此基础之上对EPS(electric power steering system)助力特性曲线的设计机理进行研究。提出了以驾驶员理想转向盘力矩与车速、转向盘转角、侧向加速度的关系为基础将助力特性曲线按照高速和低速分别进行设计的观点,进而基于此观点探讨了EPS助力特性曲线的产生过程,并对EPS助力特性曲线的几何特征进行了论证。
To analyze the force of steering system of vehicle is completed,and the steering wheel resistant torque models of different working conditions are established. a parameterized ideal steering wheel torque model of driver is put forward and the design mechanism of assisted characteristic curve of EPS is studied based on the present model,then which present that the assisted characteristic curve should be designed separately according to the vehicle speed and the design procedure should be based on the relation between ideal steering wheel torque model of driver and vehicle speed,steering wheel angle and lateral acceleration,then the process of assisted characteristic curve of EPS is formed,simultaneously which give a proof of the geometric character of assisted characteristic curve of EPS in detail.
To analyze the force of steering system of vehicle is completed,and the steering wheel resistant torque models of different working conditions are established. a parameterized ideal steering wheel torque model of driver is put forward and the design mechanism of assisted characteristic curve of EPS is studied based on the present model,then which present that the assisted characteristic curve should be designed separately according to the vehicle speed and the design procedure should be based on the relation between ideal steering wheel torque model of driver and vehicle speed,steering wheel angle and lateral acceleration,then the process of assisted characteristic curve of EPS is formed,simultaneously which give a proof of the geometric character of assisted characteristic curve of EPS in detail.
引文
[1]李莉.转向力矩特性的分析与EPS助力控制策略的研究[D].上海:同济大学,2006:39-44Li L.Analysis of steering torque characteristic and research on control strategy of EPS[D].Shanghai:Tongji University,2006:39-44(in Chinese)
[2]刘照.汽车电动助力转向系统动力学分析与控制方法研究[D].武汉:华中科技大学,2005:65-74Liu Z.Research on dynamic analysis and control method of electric power assisted steering system for vehicle[D].Wuhan:Huazhong University of Science and Technology,2005:65-74(in Chinese)
[3]Kim J,Song J.Control logic for an electric power steering system using assist motor[J].Mechatronics,2002,12(3):447-459
[4]Liu Y H,Ji X W.Matching strategy of electric power steering assistant characters based on the vehicle inherent road feel[C]//Proc.ImechE Part D:J.Automobile Engineering,2011,225(11):1481-1491
[5]王望予.汽车设计[M].4版.北京:机械工业出版社,2011:219-256Wang W Y.Automotive design[M].4th Edition.Beijing:China Machine Press,2011:219-256(in Chinese)
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[13]王鹏.汽车实时动力学仿真中转向回正特征建模方法研究[D].长春:吉林大学,2008:14-23Wang P.Research on returnability character modeling method in vehicle real-time dynamic simulation[D].Changchun:Jilin University,2008:14-23(in Chinese)
[14]Rill G.Road vehicle dynamics-fundamentals and modeling[M].Boca Raton,CRC Press,2011:43-100
[15]陈士安,邱峰,何仁,等.车辆主销内倾引起的回正力矩解析[J].农业机械学报,2008,39(7):32-35Chen S A,Qiu F,He R,et al.Analysis of self-aligning torque form kingpin inclination[J].Transactions of the Chinese Society of Agricultural Machinery,2008,39(7):32-35(in Chinese)
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[17]Mitschke M,Wallentowitz H.汽车动力学[M].4版.北京:清华大学出版社,2009Mitschke M,Wallentowitz H.Vehicle dynmics[M].4th Edtion.Beijing:Tsinghua University Press,2009(in Chinese)
[18]Reimpell J,Stoll H,Jurgen W B.The automotive chassis:engineering principles[M].2ed Edition,Oxford,Butterworth-Heinemann,2001:266-305
[19]Green P,Gillespie T,Reifeis S,et al.Subjective evaluation of steering effort levels[R].UMTRI-84-39.Ann Arbor:The University of Michigan Transportation Research Institute,1984
[20]Bertollini G P,Hogan R M.Applying driving simulation to quantify steering effort preference as a function of vehicle speed[R].SAE Paper,1999-01-0394
[21]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力矩特性研究[J].中国机械工程,2007,18(8):1001-1005Zong C F,Mai L,Wang D P,et al.Study on steering effort preference of drivers based on driving simulator[J].China Mechanical Engineering,2007,18(8):1001-1005(in Chinese)
[22]张恭庆,林源渠.泛函分析讲义:上册[M].北京:北京大学出版社,1987:1-9Zhang G Q,Lin Y Q.Function analysis:Volume 1[M].Beijing:Peking University Press,1987:1-9(in Chinese)
[2]刘照.汽车电动助力转向系统动力学分析与控制方法研究[D].武汉:华中科技大学,2005:65-74Liu Z.Research on dynamic analysis and control method of electric power assisted steering system for vehicle[D].Wuhan:Huazhong University of Science and Technology,2005:65-74(in Chinese)
[3]Kim J,Song J.Control logic for an electric power steering system using assist motor[J].Mechatronics,2002,12(3):447-459
[4]Liu Y H,Ji X W.Matching strategy of electric power steering assistant characters based on the vehicle inherent road feel[C]//Proc.ImechE Part D:J.Automobile Engineering,2011,225(11):1481-1491
[5]王望予.汽车设计[M].4版.北京:机械工业出版社,2011:219-256Wang W Y.Automotive design[M].4th Edition.Beijing:China Machine Press,2011:219-256(in Chinese)
[6]Lee M H,Ha S K,Choi J Y,et al.Improvement of the steering feel of an electric power steering system by torque map modification[J].Journal of Mechanical Science and Technology,2005,19(3):792-801
[7]杨树,唐新蓬.汽车电动助力转向系统转向盘力特性的初步研究[J].汽车科技,2003,(3):19-21Yang S,Tang X P.Preliminary study on steering wheel effort characteristic of EPS[J].Automobile science and technology,2003,(3):19-21(in Chinese)
[8]唐新蓬,杨树.电动助力转向系统与汽车转向盘力特性的仿真研究[J].机械科学与技术,2005,24(12):1387-1390Tang X P,Yang S.Simulation of steering wheel force characteristic of automobile equipped with EPS[J].Mechanical Science and Technology,2005,24(12):1387-1390(in Chinese)
[9]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):17-23Song G Y,Zhang H X.The means of refining road feel characteristic of conventional steering system[J].Shanghai Automobile,2000,(5):17-23(in Chinese)
[10]赵景波,周冰,李秀莲,等.电动汽车EPS助力特性的设计与试验[J].电机与控制学报,2011,5(12):96-102Zhao J B,Zhou B,Li X L,et al.Design and test of curved assist characteristic for electric vehicle EPS system[J].Electric Machines and Control,2011,5(12):96-102(in Chinese)
[11]Sharp R S,Granger R.On car steering torques at parking speeds[C]//Proc.ImechE Part D:J.Automobile Engineering,2003,217(2):87-96
[12]Salaani M K,Heydinger G,Paul G.Modeling and implementation if steering system feedback for the nation advanced driving simulator[R].SAE Paper,2002-01-1573
[13]王鹏.汽车实时动力学仿真中转向回正特征建模方法研究[D].长春:吉林大学,2008:14-23Wang P.Research on returnability character modeling method in vehicle real-time dynamic simulation[D].Changchun:Jilin University,2008:14-23(in Chinese)
[14]Rill G.Road vehicle dynamics-fundamentals and modeling[M].Boca Raton,CRC Press,2011:43-100
[15]陈士安,邱峰,何仁,等.车辆主销内倾引起的回正力矩解析[J].农业机械学报,2008,39(7):32-35Chen S A,Qiu F,He R,et al.Analysis of self-aligning torque form kingpin inclination[J].Transactions of the Chinese Society of Agricultural Machinery,2008,39(7):32-35(in Chinese)
[16]余志生.汽车理论[M].5版.北京:机械工业出版社,2010:176-183Yu Z S.Automotive theory[M].5th edition.Beijing:China Machine Press,2010:176-183(in Chinese)
[17]Mitschke M,Wallentowitz H.汽车动力学[M].4版.北京:清华大学出版社,2009Mitschke M,Wallentowitz H.Vehicle dynmics[M].4th Edtion.Beijing:Tsinghua University Press,2009(in Chinese)
[18]Reimpell J,Stoll H,Jurgen W B.The automotive chassis:engineering principles[M].2ed Edition,Oxford,Butterworth-Heinemann,2001:266-305
[19]Green P,Gillespie T,Reifeis S,et al.Subjective evaluation of steering effort levels[R].UMTRI-84-39.Ann Arbor:The University of Michigan Transportation Research Institute,1984
[20]Bertollini G P,Hogan R M.Applying driving simulation to quantify steering effort preference as a function of vehicle speed[R].SAE Paper,1999-01-0394
[21]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力矩特性研究[J].中国机械工程,2007,18(8):1001-1005Zong C F,Mai L,Wang D P,et al.Study on steering effort preference of drivers based on driving simulator[J].China Mechanical Engineering,2007,18(8):1001-1005(in Chinese)
[22]张恭庆,林源渠.泛函分析讲义:上册[M].北京:北京大学出版社,1987:1-9Zhang G Q,Lin Y Q.Function analysis:Volume 1[M].Beijing:Peking University Press,1987:1-9(in Chinese)