基于电动助力转向的线控转向汽车路感反馈控制

Road feel feedback control for steer by wire system based on electric power steering

针对线控转向(SBW)系统路感需要模拟生成的问题,建立了SBW系统动力学模型并研究路感产生机理。在分析电动助力转向(EPS)系统助力特性等控制算法的基础上,提出了综合路感模拟控制算法。算法中的转向系统齿条受力信息通过测量转向电机工作电流获取。选取中心区和双纽线试验工况,进行硬件在环试验。试验结果表明,本文的路感模拟方法保证了汽车低速转向轻便和高速路感清晰,可以满足驾驶员的路感反馈需求。

A dynamics model was built for the steer-by-wire（SBW） system to study the road feel generation mechanism to deal with the need of simulative generation of road feel of SBW system. Based on the analysis of the assist characteristic the returnability and the active damping control strategy of the electric power steering （EPS） system, an integrated road feel simulation control algorithm was proposed. In the algorithm, the EPS rack force information was acquired by measuring the steering motor current. The hardware-in-the-loop tests were performed under on-center and lemniscate test conditions. The results show that the proposed road feel simulation method guarantees the steering easiness at low speeds and road feel clearness at high speeds, satisfying the driver need for road feel feedback.