基于双向控制的线控转向系统路感设计

Road feel design for vehicle steer-by-wire system based on bilateral control

针对汽车线控转向系统路感需要模拟生成的问题,分析了转向过程中转角和力矩之间的耦合关系,提出了一种新型融合转角和力矩信息的双向控制方法。研究了路感电机和转向电机的控制方法,并参考电动助力转向系统提出了用于转向力传动比设计的助力控制和回正控制方法。通过选取典型工况进行实车试验验证,结果表明:提出的控制方法可以有效地向驾驶员反馈路感,并保证具有汽车良好的回正性能。

As the conventional vehicle mechanical linkages are replaced by Steer-by-Wire （SBW） with electronic control, the driver is unable to sense the road information. A novel steering wheel torque and pinion angle feedback method is proposed with bilateral control structure. The design goal for SBW system is to allow the driver to match and set the dynamic relationship between steer angle and reactive torque input. Refer to electric power steering system, a steering force ratio is designed, which the road feel motor and steer motor control to improve the driver＇s steering feel according to the assistant control and return control methods that are used in the control logic. Vehicle experiments demonstrate that the proposed control methods can effectively feedback the road information to the driver, ensuring the vehicle＇s good returnability.