汽车EPS助力特性曲线的设计机理及几何特征
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摘要
对汽车转向系统进行受力分析,建立了不同车速稳态转向行驶工况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,并在此基础上对电动助力转向系统(EPS)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,并对EPS助力特性曲线的相关几何特征进行了详细的论证.研究结果表明:EPS助力特性曲线基本形状只能是下凹型,且EPS助力特性不是完全的直线型、折线型或曲线型.
In this paper,a resistant torque model of the steering wheel in a steady-steering status at different vehicle velocities is established by means of the force analysis of the steering system. Then,a parameterized model describing the ideal steering wheel torque for the driver is put forward. Based on the parameterized model,the design mechanism of the assist characteristic curve of EPS( Electric Power Steering) is investigated,and a viewpoint is presented,that is,the assist characteristic curves should be separately designed according to the vehicle velocity and the designer should take into consideration the relationships between the ideal steering wheel torque for the driver and three parameters,namely,the vehicle velocity,the steering wheel angle and the lateral acceleration. Finally,the geometric features of the EPS assist characteristic curve are expounded in detail. The result show that the basic form of EPS assist characteristic curve should be down concave and the curve is not completely straight linear or broken linear or curvilinear.
In this paper,a resistant torque model of the steering wheel in a steady-steering status at different vehicle velocities is established by means of the force analysis of the steering system. Then,a parameterized model describing the ideal steering wheel torque for the driver is put forward. Based on the parameterized model,the design mechanism of the assist characteristic curve of EPS( Electric Power Steering) is investigated,and a viewpoint is presented,that is,the assist characteristic curves should be separately designed according to the vehicle velocity and the designer should take into consideration the relationships between the ideal steering wheel torque for the driver and three parameters,namely,the vehicle velocity,the steering wheel angle and the lateral acceleration. Finally,the geometric features of the EPS assist characteristic curve are expounded in detail. The result show that the basic form of EPS assist characteristic curve should be down concave and the curve is not completely straight linear or broken linear or curvilinear.
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:同济大学中德学院,2006.
[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:华中科技大学机械学院,2005:65-74.
[3]Kim Jihoon,Song Jaebok.Control logic for an electric power steering system using assist motor[J].Mechatronics,2002,12(3):447-459.
[4]李伟光,林颖,王元聪.汽车电动助力转向系统的硬件设计[J].华南理工大学学报:自然科学版,2006,34(2):52-56.Li Wei-guang,Lin Ying,Wang Yuan-cong.Hardware design of automobile electric power steering system[J].Journal of South China University of Technology:Natural Science Edition,2006,34(2):52-56.
[5]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.
[6]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):19-21.Yang Shu,Tang Xin-peng.Preliminary study on steering wheel effort characteristic of EPS[J].Automobile Science and Technology,2003(3):19-21.
[7]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):1387-1390.Tang Xin-peng,Yang Shu.Simulation of steering wheel force characteristics of automobiles equipped with EPS[J].Mechanical Science and Technology,2005,24(12):1387-1390.
[8]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.Song Gui-yong,Zhang Hong-xin.Road feel characteristics of conventional manual and its refining[J].Shanghai Auto,2000(5):17-23.
[9]Sharp R S,Granger R.On car steering torques at parking speeds[J].Proc Imech E Part D:J Automobile Engineering,2003,217(2):87-96.
[10]Salaani M K,Heydinger G,Grygier P.Modeling and implementation if steering system feedback for the nation advanced driving simulator[C]∥SAE 2002 Automotive Dynamics&Stability Conference and Exhibition.Detroit:SAE International,2002:01-1573.
[11]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:吉林大学汽车工程学院,2008.
[12]Georg Rill.Road vehicle dynamics-fundamentals and modeling[M].Boca Raton:CRC Press,2011:43-100.
[13]余志生.汽车理论[M].5版.北京:机械工业出版社,2010:176-183.
[14]赵林峰,陈无畏,秦明辉,等.基于转向轻便性及回正性能设计的EPS应用[J].机械工程学报,2009,45(6):181-187.Zhao Lin-feng,Chen Wu-wei,Qin Ming-hui,et al.Electric power steering application based on returnability and handiness[J].Journal of Mechanical Engineering,2009,45(6):181-187.
[15]米奇克,瓦伦托维兹.汽车动力学[M].4版.陈萌三,余强,译.北京:清华大学出版社,2009:495-498.
[16]Jorsen Reimpell,Helmut Stoll,Jurgen W B.The automotive chassis:engineering principles[M].2nd edition.Oxford:Butterworth-Heinemann,2001:266-305.
[17]Green P,Gillespie T,Reifeis S,et al.Subjective evaluation of steering effort levels[R].Ann Arbor:The University of Michigan Transportation Research Institute,1984:1-36.
[18]Bertollini G P,Hogan R M.Applying driving simulation to quantify steering effort preference as a function of vehicle speed[C]∥SAE 1999 Steering and Suspension Technology Symposium.Detroit:SAE International,1999:01-0394.
[19]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):1001-1005.Zong Chang-fu,Mai Li,Wang De-ping,et al.Study on steering effort preference of drivers based on driving simulator[J].China Machine Engineering,2007,18(8):1001-1005.
[20]张恭庆,林源渠.泛函分析讲义(上册)[M].北京:北京大学出版社,1987:1-9.
[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:华中科技大学机械学院,2005:65-74.
[3]Kim Jihoon,Song Jaebok.Control logic for an electric power steering system using assist motor[J].Mechatronics,2002,12(3):447-459.
[4]李伟光,林颖,王元聪.汽车电动助力转向系统的硬件设计[J].华南理工大学学报:自然科学版,2006,34(2):52-56.Li Wei-guang,Lin Ying,Wang Yuan-cong.Hardware design of automobile electric power steering system[J].Journal of South China University of Technology:Natural Science Edition,2006,34(2):52-56.
[5]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.
[6]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):19-21.Yang Shu,Tang Xin-peng.Preliminary study on steering wheel effort characteristic of EPS[J].Automobile Science and Technology,2003(3):19-21.
[7]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):1387-1390.Tang Xin-peng,Yang Shu.Simulation of steering wheel force characteristics of automobiles equipped with EPS[J].Mechanical Science and Technology,2005,24(12):1387-1390.
[8]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.Song Gui-yong,Zhang Hong-xin.Road feel characteristics of conventional manual and its refining[J].Shanghai Auto,2000(5):17-23.
[9]Sharp R S,Granger R.On car steering torques at parking speeds[J].Proc Imech E Part D:J Automobile Engineering,2003,217(2):87-96.
[10]Salaani M K,Heydinger G,Grygier P.Modeling and implementation if steering system feedback for the nation advanced driving simulator[C]∥SAE 2002 Automotive Dynamics&Stability Conference and Exhibition.Detroit:SAE International,2002:01-1573.
[11]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:吉林大学汽车工程学院,2008.
[12]Georg Rill.Road vehicle dynamics-fundamentals and modeling[M].Boca Raton:CRC Press,2011:43-100.
[13]余志生.汽车理论[M].5版.北京:机械工业出版社,2010:176-183.
[14]赵林峰,陈无畏,秦明辉,等.基于转向轻便性及回正性能设计的EPS应用[J].机械工程学报,2009,45(6):181-187.Zhao Lin-feng,Chen Wu-wei,Qin Ming-hui,et al.Electric power steering application based on returnability and handiness[J].Journal of Mechanical Engineering,2009,45(6):181-187.
[15]米奇克,瓦伦托维兹.汽车动力学[M].4版.陈萌三,余强,译.北京:清华大学出版社,2009:495-498.
[16]Jorsen Reimpell,Helmut Stoll,Jurgen W B.The automotive chassis:engineering principles[M].2nd edition.Oxford:Butterworth-Heinemann,2001:266-305.
[17]Green P,Gillespie T,Reifeis S,et al.Subjective evaluation of steering effort levels[R].Ann Arbor:The University of Michigan Transportation Research Institute,1984:1-36.
[18]Bertollini G P,Hogan R M.Applying driving simulation to quantify steering effort preference as a function of vehicle speed[C]∥SAE 1999 Steering and Suspension Technology Symposium.Detroit:SAE International,1999:01-0394.
[19]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):1001-1005.Zong Chang-fu,Mai Li,Wang De-ping,et al.Study on steering effort preference of drivers based on driving simulator[J].China Machine Engineering,2007,18(8):1001-1005.
[20]张恭庆,林源渠.泛函分析讲义(上册)[M].北京:北京大学出版社,1987:1-9.