线控转向的路感反馈算法设计

Liuhe, Xianzhong Zeng, Liu Shuo
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引用次数: 0

摘要

随着电动助力转向的发展越来越成熟,许多公司和高校都开始开发线控转向系统。在线转向系统中,方向盘端与转向齿条断开,需要路感仿真单元向驾驶员提供实时的路感,以保证驾驶员对车辆的操控性。模拟路感的产生有很多挑战。基本功能包括中央位置路感、主动返回功能、低速轻便性和高速稳定性。本文第一部分讨论了路感反馈电机的控制方法,第二部分是路感反馈算法的设计,第三部分是测试结果与分析。电机控制算法采用PID和前馈算法,实现电流的精确控制。道路感知反馈部分设计用于改变转向力梯度和阻尼随车辆速度的变化。通过Carsim和Matlab/Simulink联合仿真验证了该方法的有效性。测试部分对路感算法进行了验证。适应不同车速和工况,中心位置和手感的平稳性满足道路反馈需求。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Design of road feel feedback algorithm for steer-by- Wire
With the development of electric power steering becoming more and more mature, many companies and universities have begun to develop steer-by-wire systems. In the online steering system, the steering wheel end is disconnected from the steering rack, and the road feel simulation unit is required to provide the driver with a realtime road feel to ensure the driver's maneuverability of the vehicle. There are many challenges in the generation of analog road feel. The basic functions include central position road feel, active return function, low-speed lightness and high-speed stability. The first part of this article discusses the control method of the road sense feedback motor, the second part is the design of the road sense feedback algorithm, and the third part is the test results and analysis. The motor control algorithm uses PID and feedforward algorithms to achieve precise current control. The road sense feedback part is designed to change the steering force gradient and damping with the speed of the vehicle. It is verified by Carsim and Matlab/Simulink joint simulation. The test part verifies the road sense algorithm. Adapt to different vehicle speeds and working conditions, and the smoothness of the center position and feel meets the needs of road feedback.
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