汽车线控转向系统路感模拟控制策略研究
|
摘要
线控转向系统是一种全新的电控转向系统,代表了汽车转向系统未来的发展趋势,因其摆脱了传统机械式连接结构的束缚,驾驶员的力传递特性和角传递特性可以自由设计,因此在改善汽车的操纵稳定性和行驶安全性方面具有更大的优势。路感模拟技术作为线控转向系统的关键开发技术,一方面不仅是驾驶员操纵方向盘获得路面状况和汽车行驶状态的重要信息来源,另一方面也是线控转向系统未来能否尽快应用到汽车上必须解决的重要问题之一,目前国内外各大科研高校、汽车企业都对其进行了专门研究,成为了未来汽车转向系统研究开发的焦点。
本文重点围绕汽车线控转向系统的路感模拟控制进行了研究分析和仿真验证。论文第一章讨论了课题的研究意义和目的,对路感的定义及其影响因素等进行了介绍,并针对国内外目前的研究状况作了分析比较。第二章在基于veDYNA车辆动力学分析软件和MatLab的基础上建立了线控转向系统模型,对方向盘、电机、齿轮齿条以及转向车轮进行了动力学分析建模,最终构建出SBW仿真系统。第三章针对SBW的路感模拟控制提出了基于直接测量转向电机电流和车速、方向盘转角的综合路感控制,分别对主控制、辅助控制、阻尼控制和限位控制进行了算法设计。第四章针对本文提出的路感控制进行了仿真结果的验证,对不同的路感控制方案、自由设计路感和不同操纵状态下的路感特性进行了仿真分析,最后选取了中心区转向和双纽线两种典型工况对SBW路感中的路感清晰和转向轻便性进行了仿真结果的评价,进一步验证路感的合理性。第五章对全文进行了总结和展望。
As the development of vehicle electronic technology and control theory, more and more chassis integrated control technology are applied to vehicles. Therefore, steer-by-wire system is used to vehicles as a novel electronic system, its large distinct comparing to traditional steering is the cancel between steering wheel and front wheels instead of wire, so we can improve vehicle maneuverability stability、active safety and driver's comfort by road feeling control and active control.
This paper are aimed to study one key technology of steer-by-wire system-road feeling technology and combine with the project named "Research on Key Technology for Vehicle Steering-By-Wire system" and "Research on one Steering-By-Wire system". In this paper, we have a careful study and simulation test on road feeling control strategy for providing driver's comfortable and realistic road feeling. The main research work is summarized as follows:
1) Establish a complete simulation system of SBW
Based on veDYNA vehicle dynamic software and MatLab simulation software, we establish a complete model of steer-by-wire (consist of steering wheel, motor, rack and pinion, front wheel, etc) and finish the structure of steer-by-wire.The model is applicable to a variety of working conditions and is also used to test various algorithms. In this paper, we will use this model to simulate road feeling algorithms.
2) Research on a direct measured current based method and velocity steering angle for road feeling control strategy
Before the study of road feeling control strategy, we firstly have a control of the actuator's torque which is the basis of realizing road feeling and the actuator must be have a slowly torque and good position tracking in order to transport a suitable current.
For the master control of direct measured current based method, we can obtain road information (include aligning moment and property of tyre) indirectly from the actuator's torque produced by the actuator when it actuates steering task and provide driver's feeling information.
Assistance control is aimed to the realistic road feeling property of steer-by-wire and is advanced based on master control. It can decrease the road feeling's torque between large angle, prevent heavy steering and improve steering system's road feeling.
By the introduction of damping control for steer-by-wire, a driver can keep his line tracking when he is driving in dead area, thereby, it not only provide a driver's certain road feeling, but also prevent the oscillation of steering wheel and improve the road feeling in central area.
In order to make a driver have the same road feeling as is the traditional steering in the limit of HW angle, we introduce the lock-to-lock control, which is simulated by increasing the torque in the limit of HW angle. For this, a driver can quickly suit to his driving habit when he drive the steer-by-wire vehicle.
Moreover, we have a control on the target current of road feeling motor in order to make the motor transport suitable torque to driver, so we use PID algorithm after the dissertation between target current and real current for transporting voltage to make the motor produce suitable torque.
3) Simulation test on the road feeling control strategy
In this paper, we choose some representative simulation test and working conditions to prove the road feeling control strategy. Firstly, we have a simulation comparison between different road feeling control to prove the rationality of various control strategy; Based on the free design of road feeling, we have some different result to meet various driver; Considering different maneuver conditions have its road feeling, so we have some simulation comparison between various velocity and frequency of HW. Finally, we choose "on-center steering" and "∞" test to test the design target of road feeling, from the result, we conclude the control strategy proposed above can make driver have a light steering in low speed and clear road feeling in high speed and then the algorithm is right, it also lay the theory foundation for the development of control unit in future real vehicle.
本文重点围绕汽车线控转向系统的路感模拟控制进行了研究分析和仿真验证。论文第一章讨论了课题的研究意义和目的,对路感的定义及其影响因素等进行了介绍,并针对国内外目前的研究状况作了分析比较。第二章在基于veDYNA车辆动力学分析软件和MatLab的基础上建立了线控转向系统模型,对方向盘、电机、齿轮齿条以及转向车轮进行了动力学分析建模,最终构建出SBW仿真系统。第三章针对SBW的路感模拟控制提出了基于直接测量转向电机电流和车速、方向盘转角的综合路感控制,分别对主控制、辅助控制、阻尼控制和限位控制进行了算法设计。第四章针对本文提出的路感控制进行了仿真结果的验证,对不同的路感控制方案、自由设计路感和不同操纵状态下的路感特性进行了仿真分析,最后选取了中心区转向和双纽线两种典型工况对SBW路感中的路感清晰和转向轻便性进行了仿真结果的评价,进一步验证路感的合理性。第五章对全文进行了总结和展望。
As the development of vehicle electronic technology and control theory, more and more chassis integrated control technology are applied to vehicles. Therefore, steer-by-wire system is used to vehicles as a novel electronic system, its large distinct comparing to traditional steering is the cancel between steering wheel and front wheels instead of wire, so we can improve vehicle maneuverability stability、active safety and driver's comfort by road feeling control and active control.
This paper are aimed to study one key technology of steer-by-wire system-road feeling technology and combine with the project named "Research on Key Technology for Vehicle Steering-By-Wire system" and "Research on one Steering-By-Wire system". In this paper, we have a careful study and simulation test on road feeling control strategy for providing driver's comfortable and realistic road feeling. The main research work is summarized as follows:
1) Establish a complete simulation system of SBW
Based on veDYNA vehicle dynamic software and MatLab simulation software, we establish a complete model of steer-by-wire (consist of steering wheel, motor, rack and pinion, front wheel, etc) and finish the structure of steer-by-wire.The model is applicable to a variety of working conditions and is also used to test various algorithms. In this paper, we will use this model to simulate road feeling algorithms.
2) Research on a direct measured current based method and velocity steering angle for road feeling control strategy
Before the study of road feeling control strategy, we firstly have a control of the actuator's torque which is the basis of realizing road feeling and the actuator must be have a slowly torque and good position tracking in order to transport a suitable current.
For the master control of direct measured current based method, we can obtain road information (include aligning moment and property of tyre) indirectly from the actuator's torque produced by the actuator when it actuates steering task and provide driver's feeling information.
Assistance control is aimed to the realistic road feeling property of steer-by-wire and is advanced based on master control. It can decrease the road feeling's torque between large angle, prevent heavy steering and improve steering system's road feeling.
By the introduction of damping control for steer-by-wire, a driver can keep his line tracking when he is driving in dead area, thereby, it not only provide a driver's certain road feeling, but also prevent the oscillation of steering wheel and improve the road feeling in central area.
In order to make a driver have the same road feeling as is the traditional steering in the limit of HW angle, we introduce the lock-to-lock control, which is simulated by increasing the torque in the limit of HW angle. For this, a driver can quickly suit to his driving habit when he drive the steer-by-wire vehicle.
Moreover, we have a control on the target current of road feeling motor in order to make the motor transport suitable torque to driver, so we use PID algorithm after the dissertation between target current and real current for transporting voltage to make the motor produce suitable torque.
3) Simulation test on the road feeling control strategy
In this paper, we choose some representative simulation test and working conditions to prove the road feeling control strategy. Firstly, we have a simulation comparison between different road feeling control to prove the rationality of various control strategy; Based on the free design of road feeling, we have some different result to meet various driver; Considering different maneuver conditions have its road feeling, so we have some simulation comparison between various velocity and frequency of HW. Finally, we choose "on-center steering" and "∞" test to test the design target of road feeling, from the result, we conclude the control strategy proposed above can make driver have a light steering in low speed and clear road feeling in high speed and then the algorithm is right, it also lay the theory foundation for the development of control unit in future real vehicle.
引文
[1]Hirosi K, Hiroki S, Masaaki T, etc. Development of Integrated System Between Active Control Suspension, Active 4WS, TRC and ABS, SAE Paper. No.92-02-71,1992.
[2]J.P. Pauwelussen, H.B. Pacejka(eds.), Smart Vehicles, Dwets & Zeitlingger,1995.
[3]潘定海,汽车稳定性控制(VSC-Vehicle Stability Control).吉林大学,邀请报告,2001,7.
[4]余志生.汽车理论.北京：机械工业出版社,2007,第4版.
[5]罗石,商高高,苏清祖.线控转向系统转向盘力回馈控制模型的研究.汽车工程,2006,第10期.
[6]杨胜兵.线控转向系统控制策略研究.武汉理工大学博士学位论文.2008.
[7]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.中国机械工程学报,2007.
[8]Akira Higuchi and Hideki Sakai, Objective Evaluation Method of On-Center Handling
Characteristics. Toyota Motor Corporation[C], SAE Paper No.2001-01-0481,2001.
[9]Se-Wook Oh, Seok-Chan, Yun. The Development of an Advanced Control Method for the Steer-by-Wire System to Improve the Vehicle Maneuverability and Stability[C].SAE Paper No.2003-01-0578,2003.
[10]Man Hyung Lee, Seung Ki Ha, Ju Yong Choi, et al. Improvement of the Steering Feel of an Electric Power Steering System by Torque Map Modification[C].Journal of Mechanical Science and Technology, Vol 19,No.3,PP792-801,2005.
[11]张听,施国标,林逸.电动助力转向的转向感觉客观综合评价.机械工程学报,2009.
[12]宋青勇,张洪欣.常规转向系统的路感特性及其改善途径.研究开发,2000.
[13]张听,施国标,林逸.电动助力转向中间位置转向感觉分析.公路交通科技.2009.
[14]张听,施国标,林逸.EPS转向感觉理论预测研究.系统仿真学报,2009.
[15]邢洪滨,施国标,张听,林逸.Vedyna及其在汽车平顺性分析中的应用.上海汽车,2006.
[16]Ryouhei H, Katsutoshi N, Shirou N, Kazuhiro K.The Vehicle Stability Control Responsibility Improvement Using Steer-by-Wire[J]. Proceedings of the IEEE 2000.
[17]孙祖名.汽车电动助力转向系统路感特性分析.农业装备与车辆工程,2009.
[18]Se-Wook OH, Ho-Chol CHAE, Seok-Chan YUN, etal. The Design of a Controller for the Steer-by-Wire System[J].JSME international Journal Series C,Vol.47,No3,2004.
[19]林风涛.电动助力转向性能评价研究.机械设计与制造.2008.
[20]叶耿,杨家军,刘照,肖大友.汽车电动式动力转向系统转向路感研究.自然科学报,2002.
[21]Sanket Amberkar, Farhad Bolourchi, Jon Demerly and Scott Millsap, " A control system methodology for steer by wire system",SAE World Congress,Detroit,MI,USA,2004.
[22]Peter D. Electric Power Steering-The First Step on the Way to Steering by Wire[C].SAE PaperNo.1999-01-0401,1999.
[23]M. Segawa, S. Kimura, T. Kara, et al. A Study of the Relationship between Vehicle Behavior and Steering Wheel Torque on Steer By Wire Vehicles. Extensive Summaries of 18thIAVSD Symposium on Dynamics of Vehicles on Roads and Tracks,2003:67-69.
[24]刘永.汽车线控转向系统的研究.武汉理工大学硕士学位论文.2005.
[25]龚永融.线控转向系统建模与性能分析.同济大学硕士学位论文.2007.
[26]郑宏宇.汽车线控转向系统路感模拟与主动转向控制策略研究.吉林大学博士学位论文.2009.
[27]李涛涛.线控转向系统操纵性改善策略与转向盘回正力矩研究.吉林大学硕士学位论文.2007.
[28]刘照,杨家军,廖道训.车速对汽车转向力矩的影响分析.中国机械工程,2005,4.
[29]陈善华,魏宏,李文辉等.汽车电子转向技术发展与展望.汽车设计,2003,第1期.
[30]廖抒华.动力转向系统特性及其对汽车操纵稳定性的试验与仿真研究.吉林大学硕士学位论文.2000.
[31]Kenneth D. Norman. Objective Evaluation of On-Center Handling Performance[C].SAE Paper No.840069,1984.
[32]Manasini Rath, Morrel Kelly, Kurt Kober, et al. Optimum Design of a Steer by Wire System using Systematic System Engineering Approach[C].SAE Paper No.2008-01-1452,2008.
[33]Masaya S,Katsutoshi N, Shiro N, et al.a study of vehicle stability control by steer by wire system [C].Proceeding of AVEC 2000,2000.
[34]田承伟.线控转向硬件在环实验台开发及控制算法研究.吉林大学硕士学位论文.2007.
[35]左建令..汽车电子转向系统控制方法研究.吉林大学硕士学位论文.2003.
[36]刘金琨.先进PID控制MATLAB仿真.北京：电子工业出版社,2004,第2版.
[37]欧阳海.线控转向系统控制算法研究.武汉理工大学硕士学位论文.2010.
[38]GB/T 6323.2—1994：汽车操纵稳定性试验方法——转向瞬态响应试验(转向盘角阶跃试验).
[39]GB/T 6323.4—1994：汽车操纵稳定性试验方法——转向轻便性试验.
[40]朱亮.基于FlexRay总线的线控转向系统及其路感模拟研究.北京工业大学硕士学位论文.2009.
[41]Jun Tajima, Naohiro, Yuhara, Shoichi Sano, et al. Effects of Steering System Characteristic on Control Performance from the View Point of Steer-by-Wire System Design[C].SAE Paper No. 1999-01-0821,1999.
[42]Shun-Chang, Hai-Pin, Lin, Bo-Yao, Wang. Force Feedback Steering Wheel for Steer-by-Wire System[C]. Proceeding of AVEC'06,2006.
[43]D. Heitzer and A. Seewald, " Development of a fault tolerant SBW steering system " SAE Technical Paper Series,2004.
[44]扬水卜,刘志远.电动助力转向仿真系统的构建.自动化技术与应用,2009.
[45]于蕾艳.线控转向系统的转向盘力反馈控制策略研究.计算机仿真,2009.
[46]孙玉华.线控转向系统的设计及其特性的研究.西华大学硕士学位论文.2009
[47]宗长富,麦莉,郭学立.汽车前轮电子转向系统. 中国机械工程,2004,11.
[48]杨新诺.线控转向匹配分析与控制策略研究.武汉理工大学硕士学位论文.2006.
[49]祝亚军.电子转向系统结构与特性研究.长安大学硕士学位论文.2006.
[50]薛定宇,陈阳泉.基于MATLAB/Simulink的系统仿真技术与应用.北京：清华大学出版社,2002,4.
[51]龚永融.线控转向系统建模与性能分析.同济大学硕士学位论文.2007.
[52]王文冲.线控转向系统总体方案及控制算法研究.南京理工大学硕士学位论文.2007.
[53]于蕾艳,林逸,施国标.线控转向系统路感控制策略的研究.计算机仿真,2008,6.
[54]Dirk Odenthal, Tilman Bunte, Heinz-Dieter Heitzer, How to make steer-by-wire feel like power steering [C].15thTriennial World Congress.
[55]Pradeep Setlur, John R. Wagner, Darren M. Dawson, et al. A Trajectory Tracking Steer-by-Wire Control System for Ground Vehicles[C].Proceedings of the IEEE 2006.
[56]S. kimura, M. segawa, T. kada. Research on Steering Wheel Control Strategy as Man-Machine Interface for Steer-by-Wire System [C].Koyo Engineering Journal English Edition No.166E,2005.
[57]邱绪云,唐绍丰,曹亢子.线控转向系统路感PID控制仿真研究.山东交通学院学报,2008.
[58]郭孔辉.汽车操纵动力学.长春：吉林科学技术出版社,1991.
[59]宗长富.转向系统模型报告.吉林大学汽车动态模拟国家重点实验室技术报告,2002,4.
[60]郝惟拓.转向系统特性方程建模与仿真.吉林大学硕士学位论文.2008.
[61]黄忠霖.控制系统MATLAB计算及仿真.北京：国防工业出版社,2006,第2版.
[62]米其克,陈荫三(译).汽车动力学C卷.北京：人民交通出版社,1997.
[63]秦淑英.中心区操纵稳定性参数灵敏度分析与方向盘力矩特性研究.吉林大学硕上学位论文,2004,.
[64]王望予.汽车设计.北京：机械工业出版社,2007,第4版.
[65]于蕾艳,林逸,施国标.线控转向系统动力学模型的研究.中国科技论文在线,2007.
[66]蔡英武.线控转向系统参数与整车匹配设计的研究.吉林大学硕士学位论文.2005.
[67]Bing Zheng; Altemare,C.;Anwar,S. "Fault tolerant steer-by-wire road wheel control system" American Control Conference, vol 3,pp.1619-1624,2005.
[68]张良.基于xPC Target的汽车ESP硬件在环仿真试验台的开发.吉林大学硕士学位论 文.2009.
[2]J.P. Pauwelussen, H.B. Pacejka(eds.), Smart Vehicles, Dwets & Zeitlingger,1995.
[3]潘定海,汽车稳定性控制(VSC-Vehicle Stability Control).吉林大学,邀请报告,2001,7.
[4]余志生.汽车理论.北京：机械工业出版社,2007,第4版.
[5]罗石,商高高,苏清祖.线控转向系统转向盘力回馈控制模型的研究.汽车工程,2006,第10期.
[6]杨胜兵.线控转向系统控制策略研究.武汉理工大学博士学位论文.2008.
[7]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.中国机械工程学报,2007.
[8]Akira Higuchi and Hideki Sakai, Objective Evaluation Method of On-Center Handling
Characteristics. Toyota Motor Corporation[C], SAE Paper No.2001-01-0481,2001.
[9]Se-Wook Oh, Seok-Chan, Yun. The Development of an Advanced Control Method for the Steer-by-Wire System to Improve the Vehicle Maneuverability and Stability[C].SAE Paper No.2003-01-0578,2003.
[10]Man Hyung Lee, Seung Ki Ha, Ju Yong Choi, et al. Improvement of the Steering Feel of an Electric Power Steering System by Torque Map Modification[C].Journal of Mechanical Science and Technology, Vol 19,No.3,PP792-801,2005.
[11]张听,施国标,林逸.电动助力转向的转向感觉客观综合评价.机械工程学报,2009.
[12]宋青勇,张洪欣.常规转向系统的路感特性及其改善途径.研究开发,2000.
[13]张听,施国标,林逸.电动助力转向中间位置转向感觉分析.公路交通科技.2009.
[14]张听,施国标,林逸.EPS转向感觉理论预测研究.系统仿真学报,2009.
[15]邢洪滨,施国标,张听,林逸.Vedyna及其在汽车平顺性分析中的应用.上海汽车,2006.
[16]Ryouhei H, Katsutoshi N, Shirou N, Kazuhiro K.The Vehicle Stability Control Responsibility Improvement Using Steer-by-Wire[J]. Proceedings of the IEEE 2000.
[17]孙祖名.汽车电动助力转向系统路感特性分析.农业装备与车辆工程,2009.
[18]Se-Wook OH, Ho-Chol CHAE, Seok-Chan YUN, etal. The Design of a Controller for the Steer-by-Wire System[J].JSME international Journal Series C,Vol.47,No3,2004.
[19]林风涛.电动助力转向性能评价研究.机械设计与制造.2008.
[20]叶耿,杨家军,刘照,肖大友.汽车电动式动力转向系统转向路感研究.自然科学报,2002.
[21]Sanket Amberkar, Farhad Bolourchi, Jon Demerly and Scott Millsap, " A control system methodology for steer by wire system",SAE World Congress,Detroit,MI,USA,2004.
[22]Peter D. Electric Power Steering-The First Step on the Way to Steering by Wire[C].SAE PaperNo.1999-01-0401,1999.
[23]M. Segawa, S. Kimura, T. Kara, et al. A Study of the Relationship between Vehicle Behavior and Steering Wheel Torque on Steer By Wire Vehicles. Extensive Summaries of 18thIAVSD Symposium on Dynamics of Vehicles on Roads and Tracks,2003:67-69.
[24]刘永.汽车线控转向系统的研究.武汉理工大学硕士学位论文.2005.
[25]龚永融.线控转向系统建模与性能分析.同济大学硕士学位论文.2007.
[26]郑宏宇.汽车线控转向系统路感模拟与主动转向控制策略研究.吉林大学博士学位论文.2009.
[27]李涛涛.线控转向系统操纵性改善策略与转向盘回正力矩研究.吉林大学硕士学位论文.2007.
[28]刘照,杨家军,廖道训.车速对汽车转向力矩的影响分析.中国机械工程,2005,4.
[29]陈善华,魏宏,李文辉等.汽车电子转向技术发展与展望.汽车设计,2003,第1期.
[30]廖抒华.动力转向系统特性及其对汽车操纵稳定性的试验与仿真研究.吉林大学硕士学位论文.2000.
[31]Kenneth D. Norman. Objective Evaluation of On-Center Handling Performance[C].SAE Paper No.840069,1984.
[32]Manasini Rath, Morrel Kelly, Kurt Kober, et al. Optimum Design of a Steer by Wire System using Systematic System Engineering Approach[C].SAE Paper No.2008-01-1452,2008.
[33]Masaya S,Katsutoshi N, Shiro N, et al.a study of vehicle stability control by steer by wire system [C].Proceeding of AVEC 2000,2000.
[34]田承伟.线控转向硬件在环实验台开发及控制算法研究.吉林大学硕士学位论文.2007.
[35]左建令..汽车电子转向系统控制方法研究.吉林大学硕士学位论文.2003.
[36]刘金琨.先进PID控制MATLAB仿真.北京：电子工业出版社,2004,第2版.
[37]欧阳海.线控转向系统控制算法研究.武汉理工大学硕士学位论文.2010.
[38]GB/T 6323.2—1994：汽车操纵稳定性试验方法——转向瞬态响应试验(转向盘角阶跃试验).
[39]GB/T 6323.4—1994：汽车操纵稳定性试验方法——转向轻便性试验.
[40]朱亮.基于FlexRay总线的线控转向系统及其路感模拟研究.北京工业大学硕士学位论文.2009.
[41]Jun Tajima, Naohiro, Yuhara, Shoichi Sano, et al. Effects of Steering System Characteristic on Control Performance from the View Point of Steer-by-Wire System Design[C].SAE Paper No. 1999-01-0821,1999.
[42]Shun-Chang, Hai-Pin, Lin, Bo-Yao, Wang. Force Feedback Steering Wheel for Steer-by-Wire System[C]. Proceeding of AVEC'06,2006.
[43]D. Heitzer and A. Seewald, " Development of a fault tolerant SBW steering system " SAE Technical Paper Series,2004.
[44]扬水卜,刘志远.电动助力转向仿真系统的构建.自动化技术与应用,2009.
[45]于蕾艳.线控转向系统的转向盘力反馈控制策略研究.计算机仿真,2009.
[46]孙玉华.线控转向系统的设计及其特性的研究.西华大学硕士学位论文.2009
[47]宗长富,麦莉,郭学立.汽车前轮电子转向系统. 中国机械工程,2004,11.
[48]杨新诺.线控转向匹配分析与控制策略研究.武汉理工大学硕士学位论文.2006.
[49]祝亚军.电子转向系统结构与特性研究.长安大学硕士学位论文.2006.
[50]薛定宇,陈阳泉.基于MATLAB/Simulink的系统仿真技术与应用.北京：清华大学出版社,2002,4.
[51]龚永融.线控转向系统建模与性能分析.同济大学硕士学位论文.2007.
[52]王文冲.线控转向系统总体方案及控制算法研究.南京理工大学硕士学位论文.2007.
[53]于蕾艳,林逸,施国标.线控转向系统路感控制策略的研究.计算机仿真,2008,6.
[54]Dirk Odenthal, Tilman Bunte, Heinz-Dieter Heitzer, How to make steer-by-wire feel like power steering [C].15thTriennial World Congress.
[55]Pradeep Setlur, John R. Wagner, Darren M. Dawson, et al. A Trajectory Tracking Steer-by-Wire Control System for Ground Vehicles[C].Proceedings of the IEEE 2006.
[56]S. kimura, M. segawa, T. kada. Research on Steering Wheel Control Strategy as Man-Machine Interface for Steer-by-Wire System [C].Koyo Engineering Journal English Edition No.166E,2005.
[57]邱绪云,唐绍丰,曹亢子.线控转向系统路感PID控制仿真研究.山东交通学院学报,2008.
[58]郭孔辉.汽车操纵动力学.长春：吉林科学技术出版社,1991.
[59]宗长富.转向系统模型报告.吉林大学汽车动态模拟国家重点实验室技术报告,2002,4.
[60]郝惟拓.转向系统特性方程建模与仿真.吉林大学硕士学位论文.2008.
[61]黄忠霖.控制系统MATLAB计算及仿真.北京：国防工业出版社,2006,第2版.
[62]米其克,陈荫三(译).汽车动力学C卷.北京：人民交通出版社,1997.
[63]秦淑英.中心区操纵稳定性参数灵敏度分析与方向盘力矩特性研究.吉林大学硕上学位论文,2004,.
[64]王望予.汽车设计.北京：机械工业出版社,2007,第4版.
[65]于蕾艳,林逸,施国标.线控转向系统动力学模型的研究.中国科技论文在线,2007.
[66]蔡英武.线控转向系统参数与整车匹配设计的研究.吉林大学硕士学位论文.2005.
[67]Bing Zheng; Altemare,C.;Anwar,S. "Fault tolerant steer-by-wire road wheel control system" American Control Conference, vol 3,pp.1619-1624,2005.
[68]张良.基于xPC Target的汽车ESP硬件在环仿真试验台的开发.吉林大学硕士学位论 文.2009.