基于路感重构的线控转向系统可调节路感反馈策略研究

Research on Adjustable Road Feeling Feedback for Steering-by-Wire System Based on Road Feeling Reconstruction

线控转向系统取消了转向机械连接,提高了转向系统设计的灵活性,被视为智能汽车的核心组件之一。同时,机械连接的缺失也导致其无法直接传递路面状态信息,即“路感”。路感是驾驶员获取路面信息与车辆状态信息的重要途径,对于提高驾驶安全具有重要作用。因此,线控转向系统必须进行路感反馈设计。同时,由于驾驶员之间的差异,单一的路感反馈难以满足不同驾驶员的需求,线控转向系统为路感反馈系统提供了更大的设计空间。本文旨在解决线控转向系统可调节路感反馈问题。根据线控转向系统的模型,参考传统电动助力转向系统路感产生机制,使用动力学分析与仿真验证相结合的方法,提取路感重要影响因素,并基于分析结果搭建了可调节路感反馈模型:由回正力矩估计器与助力力矩共同产生路感主力矩,以反馈路面信息;由摩擦力矩、阻尼力矩、惯性力矩、等效刚度力矩作为辅助调节力矩,调节转向手感。同时,为了实现对路感的针对性调节,结合前文所建立模型,设计了联合仿真试验,结合路感客观评价指标,获得了各评价指标与客观评价指标的影响关系,为路感调节提供了参考。

The steering-by-wire system cancels the steering mechanical connection,improves the flexibility of the steering system,and is regarded as the core component of the intelligent vehicle.The road feeling feedback of the steering-by-wire steering is a significant way for drivers to receive information of road and vehicle.It plays an important role in improving driving safety.Due to differences between drivers,a monotonous road feeling cannot meet the needs of different drivers.This article aims to solve the problem of adjustable road feeling feedback for steer-by-wire systems.According to the model of the line-control steering system,referring to the road feeling mechanism of EPS steering system,the method combining dynamic analysis and simulation verification was used to extract important factors of road feeling.Based on the analysis results,an adjustable road feeling model was developed and it consists of two parts:The main torque was designed to feedback road information,and the adjusting torque was designed to adjust the steering feeling of drivers.At the same time,in order to realize the targeted adjustment of road feeling,a joint simulation test combined with the model established in the previous was developed.Based on the subjective evaluation index of road sense,the relationship of evaluation indexes and the objective evaluation index were obtained.