基于CarSim的电动汽车转向灵活性仿真与探究

Simulation and Exploration of Electrical Vehicle Steering Flexibility based on CarSim

传统的电动助力转向系统由于是由一套齿轮齿条转向器拉动车轮实现转向的,这就限制了车轮转角使其无法实现真正的阿克曼转向,也限制了车轮的最大转向角度。在CarSim自带模型的基础上,利用Simulink修改其转向子系统,从而建立了一种可实现前轮独立转向的汽车模型。通过双移线仿真试验和方向盘角阶跃响应试验,验证了模型的正确性。通过开环控制和闭环控制试验,证明了模型相对于传统汽车模型有着更好的转向灵活性。研究可为后期的线控转向汽车的灵活性和操稳性研究做出铺垫,对于延长轮胎寿命,提升驾驶感受也具有重要的意义。

The conventional electronic power steering system uses a rack and pinion steering to pull the wheel to achieve steering,which limits the wheel angle to achieve Ackermann steering and limits the maximum steering angle of the wheel.In this paper,the steering subsystem of CarSim is modified by Simulink on the basis of Carsim's own model,so as to establish a vehicle model which can realize independent steering of front wheels.The correctness of the model is verified by double shift simulation test and steering wheel angle step response test.Through open-loop control and closed-loop control experiments,it is proved that this model has better steering flexibility than the traditional automobile model.This study can pave the way for the later research on the flexibility and steerability of steering-by-wire vehicles,and is also of great significance to prolong the life of automobile tires and improve driving experience.